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 05/10 23:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
 05/10 23:55:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
 05/10 23:55:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:55:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:55:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:55:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:56:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:56:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:56:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.47s (batch: 4.29s, save: 9.18s)	[pipeline.py: 300]
+05/10 23:56:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
+  episode_total: mean=218.00s, total=218.00s, count=1, min=218002.1ms, max=218002.1ms
+  sensor_polling: mean=538.6ms, total=161.59s, count=300, min=459.3ms, max=1176.5ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9182.3ms, max=9182.3ms
+  physics_step: mean=28.5ms, total=8.56s, count=300, min=15.7ms, max=189.5ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4289.1ms, max=4289.1ms
+  task_sampling: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  task_specific_sample: mean=596.4ms, total=596.4ms, count=1, min=596.4ms, max=596.4ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=748.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:56:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:56:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:56:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:56:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:56:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:56:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:56:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023335m	[env.py: 870]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:56:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86432997  0.84252489  0.02333533] yaw=-164.2deg	[env.py: 1019]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91508099  0.20651396  0.02333533] yaw=160.7deg	[env.py: 1019]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78021082  1.03448981  0.02333533] yaw=-139.8deg	[env.py: 1019]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:56:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.6ms	[env.py: 1075]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.843, 0.023)	[env.py: 1079]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/10 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:56:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:56:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:56:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:56:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:56:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:56:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:56:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:56:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 92.481[deg]	[grasp_sample.py: 539]
+05/10 23:56:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:56:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:56:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:56:24 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:56:32 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:56:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:56:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 23:56:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:56:58 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:56:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 23:56:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:57:00 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:57:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:57:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:57:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.51s (batch: 4.41s, save: 9.09s)	[pipeline.py: 300]
+05/10 23:57:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=214.63s, total=214.63s, count=1, min=214629.8ms, max=214629.8ms
+  sensor_polling: mean=539.5ms, total=161.86s, count=300, min=442.9ms, max=999.3ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9090.2ms, max=9090.2ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=16.0ms, max=134.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4414.9ms, max=4414.9ms
+  task_sampling: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
+  task_specific_sample: mean=471.3ms, total=471.3ms, count=1, min=471.3ms, max=471.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=468.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:57:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:57:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:57:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:57:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055161m	[env.py: 870]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09130323  1.17564193  0.05516061] yaw=-136.2deg	[env.py: 1019]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85372511  0.84936624  0.05516061] yaw=-155.6deg	[env.py: 1019]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82104226  0.72308723  0.05516061] yaw=-172.8deg	[env.py: 1019]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:57:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms	[env.py: 1075]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 1.176, 0.055)	[env.py: 1079]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg	[env.py: 1082]
+05/10 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:57:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:57:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:57:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:57:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:57:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:57:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:57:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 83.940[deg]	[grasp_sample.py: 539]
+05/10 23:57:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:57:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:57:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:57:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:57:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:57:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:57:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009972m	[env.py: 870]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:57:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05120359  1.10527368  0.00997175] yaw=-134.0deg	[env.py: 1019]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85872023  0.43926495  0.00997175] yaw=176.5deg	[env.py: 1019]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:57:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms	[env.py: 1075]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.105, 0.010)	[env.py: 1079]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
+05/10 23:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:57:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:57:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:57:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:57:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:57:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:57:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:57:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 94.902[deg]	[grasp_sample.py: 539]
+05/10 23:57:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:57:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:57:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:57:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:57:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:57:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.96s (batch: 4.30s, save: 9.66s)	[pipeline.py: 300]
+05/10 23:57:12 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.66s:
+  episode_total: mean=235.44s, total=235.44s, count=1, min=235438.0ms, max=235438.0ms
+  sensor_polling: mean=539.5ms, total=161.84s, count=300, min=455.0ms, max=819.4ms
+  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9656.8ms, max=9656.8ms
+  physics_step: mean=29.3ms, total=8.78s, count=300, min=15.6ms, max=111.6ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.7ms, max=4301.7ms
+  task_sampling: mean=659.5ms, total=659.5ms, count=1, min=659.5ms, max=659.5ms
+  task_specific_sample: mean=652.0ms, total=652.0ms, count=1, min=652.0ms, max=652.0ms
+  mj_forward_sync: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 23:57:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:57:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:57:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:57:14 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]
+05/10 23:57:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:57:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016471m	[env.py: 870]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:57:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11780285  1.02281016  0.01647071] yaw=-132.2deg	[env.py: 1019]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7317327   0.56566006  0.01647071] yaw=-169.9deg	[env.py: 1019]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78838388  0.59263425  0.01647071] yaw=-176.8deg	[env.py: 1019]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:57:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms	[env.py: 1075]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.118, 1.023, 0.016)	[env.py: 1079]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.2 deg	[env.py: 1082]
+05/10 23:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:57:14 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:57:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:57:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:57:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:57:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:57:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 93.607[deg]	[grasp_sample.py: 539]
+05/10 23:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:57:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:57:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:57:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:57:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:57:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 23:57:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:57:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:57:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:57:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.44s (batch: 4.11s, save: 8.33s)	[pipeline.py: 300]
+05/10 23:57:34 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.63s:
+  episode_total: mean=208.63s, total=208.63s, count=1, min=208626.0ms, max=208626.0ms
+  sensor_polling: mean=535.4ms, total=160.62s, count=300, min=444.3ms, max=902.1ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.4ms, max=8327.4ms
+  physics_step: mean=26.2ms, total=7.86s, count=300, min=15.5ms, max=85.1ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.9ms, max=4109.9ms
+  task_sampling: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
+  task_specific_sample: mean=629.6ms, total=629.6ms, count=1, min=629.6ms, max=629.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=414.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 23:57:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:57:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:57:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:57:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:57:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:57:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067611m	[env.py: 870]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:57:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219757  0.27806194  0.06761106] yaw=163.9deg	[env.py: 1019]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75801984  0.90056949  0.06761106] yaw=-164.5deg	[env.py: 1019]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70948634  0.89620694  0.06761106] yaw=-157.5deg	[env.py: 1019]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.4ms	[env.py: 1075]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.278, 0.068)	[env.py: 1079]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg	[env.py: 1082]
+05/10 23:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
+05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:57:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:57:36 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:57:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:57:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:57:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:57:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:57:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:57:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.347[m] 86.524[deg]	[grasp_sample.py: 539]
+05/10 23:57:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:57:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:57:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:57:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:58:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:58:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:58:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:58:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:58:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:58:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:58:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 23:58:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:58:59 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 23:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/10 23:59:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 23:59:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 23:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:59:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.106s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:59:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.216[deg]	[grasp_sample.py: 539]
+05/10 23:59:28 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:59:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074021m	[env.py: 870]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71771047  0.2412294   0.07402057] yaw=165.9deg	[env.py: 1019]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79801228  0.88609307  0.07402057] yaw=-158.8deg	[env.py: 1019]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90447118  0.59809941  0.07402057] yaw=-182.3deg	[env.py: 1019]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.3ms	[env.py: 1075]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.241, 0.074)	[env.py: 1079]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
+05/10 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:59:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:59:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.143s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.236s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:59:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.586[m] 97.310[deg]	[grasp_sample.py: 539]
+05/10 23:59:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:59:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:59:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:59:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 23:59:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/10 23:59:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.85s (batch: 5.57s, save: 11.28s)	[pipeline.py: 300]
+05/10 23:59:39 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.55s:
+  episode_total: mean=211.34s, total=211.34s, count=1, min=211342.5ms, max=211342.5ms
+  sensor_polling: mean=520.9ms, total=156.28s, count=300, min=442.1ms, max=1081.9ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11275.1ms, max=11275.1ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=14.5ms, max=105.2ms
+  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5574.9ms, max=5574.9ms
+  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  task_specific_sample: mean=547.3ms, total=547.3ms, count=1, min=547.3ms, max=547.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=570.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/10 23:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:59:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:59:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:59:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 23:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:59:41 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]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071982m	[env.py: 870]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70248301  0.77801871  0.07198168] yaw=-159.2deg	[env.py: 1019]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72346045  0.42004062  0.07198168] yaw=173.0deg	[env.py: 1019]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85461335  0.45520395  0.07198168] yaw=168.1deg	[env.py: 1019]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.0ms, total=125.0ms	[env.py: 1075]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.778, 0.072)	[env.py: 1079]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
+05/10 23:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:59:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:59:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.222[deg]	[grasp_sample.py: 539]
+05/10 23:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:44 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:59:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:59:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:59:46 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]
+05/10 23:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:59:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089259m	[env.py: 870]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78927458  0.52724267  0.08925889] yaw=-183.5deg	[env.py: 1019]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89538272  0.25831854  0.08925889] yaw=174.4deg	[env.py: 1019]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87299348  0.88731642  0.08925889] yaw=-155.0deg	[env.py: 1019]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.5ms	[env.py: 1075]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.527, 0.089)	[env.py: 1079]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.5 deg	[env.py: 1082]
+05/10 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:59:46 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:59:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:59:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:59:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.455[m] 83.776[deg]	[grasp_sample.py: 539]
+05/10 23:59:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:59:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:59:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 23:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:59:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.716s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:59:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.781[deg]	[grasp_sample.py: 539]
+05/10 23:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:55 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 23:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 23:59:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 23:59:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 23:59:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 23:59:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 23:59:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 23:59:57 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]
+05/10 23:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 23:59:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006074m	[env.py: 870]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 23:59:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 23:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92553085  0.94159055  0.00607405] yaw=-154.5deg	[env.py: 1019]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12153301  1.00999694  0.00607405] yaw=-145.3deg	[env.py: 1019]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8288638   0.67088163  0.00607405] yaw=-167.4deg	[env.py: 1019]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 23:59:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=414.9ms, total=414.9ms	[env.py: 1075]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.942, 0.006)	[env.py: 1079]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/10 23:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 23:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 23:59:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 23:59:57 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 23:59:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 23:59:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 23:59:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 23:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.119s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 23:59:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.278s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 23:59:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 88.185[deg]	[grasp_sample.py: 539]
+05/10 23:59:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 23:59:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 23:59:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:00:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]	[grasp_sample.py: 539]
+05/11 00:00:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:00:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:00:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:00:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:00:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:00:04 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]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040598m	[env.py: 870]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92689439  0.95820455  0.04059786] yaw=-153.3deg	[env.py: 1019]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62598674  0.54061215  0.04059786] yaw=-176.8deg	[env.py: 1019]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75258244  0.01379325  0.04059786] yaw=154.3deg	[env.py: 1019]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:00:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.6ms	[env.py: 1075]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.958, 0.041)	[env.py: 1079]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg	[env.py: 1082]
+05/11 00:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:00:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:00:05 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:00:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:00:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:00:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:00:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:00:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 79.375[deg]	[grasp_sample.py: 539]
+05/11 00:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:00:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:00:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:00:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:00:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:00:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:01:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:01:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:02:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:02:40 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:02:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:02:49 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:02:53 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:02:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:02:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:03:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:03:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:03:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:03:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:03:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.37s (batch: 4.37s, save: 9.00s)	[pipeline.py: 300]
+05/11 00:03:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:03:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:03:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:03:07 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.90s:
+  episode_total: mean=164.87s, total=329.73s, count=2, min=112765.7ms, max=216965.6ms
+  sensor_polling: mean=524.1ms, total=244.76s, count=467, min=438.7ms, max=934.2ms
+  physics_step: mean=25.9ms, total=12.07s, count=467, min=16.2ms, max=132.6ms
+  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9001.2ms, max=9001.2ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
+  task_sampling: mean=448.2ms, total=896.4ms, count=2, min=440.6ms, max=455.8ms
+  task_specific_sample: mean=442.0ms, total=884.0ms, count=2, min=432.5ms, max=451.5ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms
+  mj_forward_sync: mean=527.1us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:03:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086124m	[env.py: 870]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88626437  0.87951487  0.08612394] yaw=-148.1deg	[env.py: 1019]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69891733  0.22386451  0.08612394] yaw=172.1deg	[env.py: 1019]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=465.5ms, total=465.6ms	[env.py: 1075]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.880, 0.086)	[env.py: 1079]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/11 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:03:10 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:03:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.473[m] 90.178[deg]	[grasp_sample.py: 539]
+05/11 00:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:03:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:03:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:03:13 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:03:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:03:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:03:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:03:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:03:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 15.07s (batch: 4.00s, save: 11.07s)	[pipeline.py: 300]
+05/11 00:03:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.97s:
+  episode_total: mean=108.72s, total=217.43s, count=2, min=3548.4ms, max=213885.7ms
+  sensor_polling: mean=517.1ms, total=155.13s, count=300, min=446.3ms, max=750.4ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11071.1ms, max=11071.1ms
+  physics_step: mean=25.7ms, total=7.72s, count=300, min=15.1ms, max=79.1ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.9ms, max=4002.9ms
+  task_sampling: mean=486.8ms, total=973.6ms, count=2, min=473.2ms, max=500.4ms
+  task_specific_sample: mean=482.7ms, total=965.3ms, count=2, min=467.9ms, max=497.4ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.1ms, max=3.3ms
+  mj_forward_sync: mean=521.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:03:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:03:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:03:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:03:21 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]
+05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093836m	[env.py: 870]
+05/11 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93924024  0.17880052  0.09383583] yaw=161.8deg	[env.py: 1019]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:03:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:03:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.49s (batch: 4.90s, save: 9.58s)	[pipeline.py: 300]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8455813   0.47097903  0.09383583] yaw=178.3deg	[env.py: 1019]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90405564  0.76932554  0.09383583] yaw=-151.6deg	[env.py: 1019]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:03:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.5ms	[env.py: 1075]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.179, 0.094)	[env.py: 1079]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg	[env.py: 1082]
+05/11 00:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:03:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:03:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:03:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:03:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:03:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:03:22 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.63s:
+  episode_total: mean=124.75s, total=374.26s, count=3, min=2540.2ms, max=205718.9ms
+  sensor_polling: mean=512.3ms, total=293.04s, count=572, min=435.7ms, max=1056.0ms
+  physics_step: mean=26.1ms, total=14.96s, count=572, min=15.3ms, max=153.0ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9584.4ms, max=9584.4ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4904.9ms, max=4904.9ms
+  task_sampling: mean=542.1ms, total=1.63s, count=3, min=421.1ms, max=685.5ms
+  task_specific_sample: mean=538.6ms, total=1.62s, count=3, min=418.0ms, max=682.4ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=482.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.8us, 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]
+05/11 00:03:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:03:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 93.763[deg]	[grasp_sample.py: 539]
+05/11 00:03:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:03:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:03:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:03:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:03:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:03:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:03:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:03:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:03:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025034m	[env.py: 870]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:03:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86896707  0.60127442  0.02503383] yaw=-172.3deg	[env.py: 1019]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63583555  0.63290091  0.02503383] yaw=-179.0deg	[env.py: 1019]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9255671   0.89699646  0.02503383] yaw=-155.4deg	[env.py: 1019]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:03:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms	[env.py: 1075]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.601, 0.025)	[env.py: 1079]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg	[env.py: 1082]
+05/11 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:03:24 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:03:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:03:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:03:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:03:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:03:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 83.965[deg]	[grasp_sample.py: 539]
+05/11 00:03:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:03:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:03:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:03:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:03:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.74s (batch: 4.59s, save: 9.16s)	[pipeline.py: 300]
+05/11 00:03:27 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
+  episode_total: mean=185.81s, total=371.63s, count=2, min=168378.6ms, max=203251.2ms
+  sensor_polling: mean=514.3ms, total=293.15s, count=570, min=437.8ms, max=886.1ms
+  physics_step: mean=24.7ms, total=14.10s, count=570, min=16.6ms, max=82.7ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9156.0ms, max=9156.0ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.8ms, max=4586.8ms
+  task_sampling: mean=452.3ms, total=904.5ms, count=2, min=442.8ms, max=461.7ms
+  task_specific_sample: mean=448.6ms, total=897.2ms, count=2, min=439.3ms, max=457.9ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=441.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:03:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:03:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:03:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:03:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:03:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:03:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015991m	[env.py: 870]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:03:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84112973  0.55690103  0.01599141] yaw=-173.3deg	[env.py: 1019]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99002919  0.85209355  0.01599141] yaw=-152.6deg	[env.py: 1019]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:03:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms	[env.py: 1075]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.557, 0.016)	[env.py: 1079]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
+05/11 00:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:03:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:03:30 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:03:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:03:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 78.194[deg]	[grasp_sample.py: 539]
+05/11 00:03:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:03:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:03:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:04:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:04:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:04:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:04:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:04:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:05:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:05:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:05:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:05:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:05:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.234s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:05:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.125[deg]	[grasp_sample.py: 539]
+05/11 00:05:23 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:05:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:05:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:05:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009926m	[env.py: 870]
+05/11 00:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86351947  0.33482369  0.00992606] yaw=158.6deg	[env.py: 1019]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97826632  0.88410955  0.00992606] yaw=-160.3deg	[env.py: 1019]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88567284  0.83558895  0.00992606] yaw=-150.9deg	[env.py: 1019]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=538.2ms, total=538.2ms	[env.py: 1075]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.335, 0.010)	[env.py: 1079]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg	[env.py: 1082]
+05/11 00:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:05:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:05:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:05:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:05:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:05:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:05:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.474[m] 101.918[deg]	[grasp_sample.py: 539]
+05/11 00:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:05:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:05:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:06:03 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:06:13 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:06:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:06:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:06:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:06:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:06:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:06:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:06:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:06:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:06:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:06:39 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/11 00:06:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:06:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:06:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.15s (batch: 4.95s, save: 9.20s)	[pipeline.py: 300]
+05/11 00:06:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.78s:
+  episode_total: mean=211.89s, total=211.89s, count=1, min=211893.8ms, max=211893.8ms
+  sensor_polling: mean=535.6ms, total=160.68s, count=300, min=427.1ms, max=1098.6ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
+  physics_step: mean=26.0ms, total=7.81s, count=300, min=17.8ms, max=88.6ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4951.5ms, max=4951.5ms
+  task_sampling: mean=778.6ms, total=778.6ms, count=1, min=778.6ms, max=778.6ms
+  task_specific_sample: mean=774.2ms, total=774.2ms, count=1, min=774.2ms, max=774.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=546.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:06:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:06:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:06:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:06:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:06:42 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]
+05/11 00:06:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:06:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069429m	[env.py: 870]
+05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:06:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64940391  0.46078237  0.06942928] yaw=180.5deg	[env.py: 1019]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69885296  0.14089567  0.06942928] yaw=167.8deg	[env.py: 1019]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74265389  0.84038795  0.06942928] yaw=-152.7deg	[env.py: 1019]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:06:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms	[env.py: 1075]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.461, 0.069)	[env.py: 1079]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg	[env.py: 1082]
+05/11 00:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:06:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:06:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:06:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:06:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:06:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:06:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:06:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:06:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.628[m] 91.473[deg]	[grasp_sample.py: 539]
+05/11 00:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:06:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:06:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:06:46 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:06:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:06:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:06:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:06:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.03s (batch: 4.23s, save: 8.81s)	[pipeline.py: 300]
+05/11 00:06:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s:
+  episode_total: mean=208.34s, total=208.34s, count=1, min=208335.0ms, max=208335.0ms
+  sensor_polling: mean=523.8ms, total=155.56s, count=297, min=442.7ms, max=1078.8ms
+  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8805.5ms, max=8805.5ms
+  physics_step: mean=25.8ms, total=7.67s, count=297, min=16.3ms, max=89.7ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.4ms, max=4226.4ms
+  task_sampling: mean=462.9ms, total=462.9ms, count=1, min=462.9ms, max=462.9ms
+  task_specific_sample: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=420.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:06:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:06:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:06:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:06:54 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]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090164m	[env.py: 870]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09864437  1.07171659  0.09016381] yaw=-134.4deg	[env.py: 1019]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64087277  0.75531716  0.09016381] yaw=-166.8deg	[env.py: 1019]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63677412  0.4630348   0.09016381] yaw=172.3deg	[env.py: 1019]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms	[env.py: 1075]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.099, 1.072, 0.090)	[env.py: 1079]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.4 deg	[env.py: 1082]
+05/11 00:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:06:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:06:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:06:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:06:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:06:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:06:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:06:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:06:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 85.320[deg]	[grasp_sample.py: 539]
+05/11 00:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:06:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:06:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:06:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:06:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:06:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.23s, save: 8.73s)	[pipeline.py: 300]
+05/11 00:07:00 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=210.61s, total=210.61s, count=1, min=210608.5ms, max=210608.5ms
+  sensor_polling: mean=533.2ms, total=159.95s, count=300, min=447.6ms, max=1055.4ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8731.7ms, max=8731.7ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.5ms, max=93.8ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4227.4ms, max=4227.4ms
+  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
+  task_specific_sample: mean=507.8ms, total=507.8ms, count=1, min=507.8ms, max=507.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=446.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:07:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:07:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:07:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:07:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:07:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035790m	[env.py: 870]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:07:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92867197  0.57157867  0.0357905 ] yaw=-183.6deg	[env.py: 1019]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06516373  1.07079765  0.0357905 ] yaw=-138.6deg	[env.py: 1019]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91607437  0.11327503  0.0357905 ] yaw=144.2deg	[env.py: 1019]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms	[env.py: 1075]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.572, 0.036)	[env.py: 1079]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.6 deg	[env.py: 1082]
+05/11 00:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
+05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:07:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:07:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:07:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:07:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:07:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:07:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:07:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:07:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.292[m] 82.256[deg]	[grasp_sample.py: 539]
+05/11 00:07:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:07:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:07:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:07:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:07:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:07:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:07:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:07:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:07:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:07:57 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:07:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.074[deg]	[grasp_sample.py: 539]
+05/11 00:07:58 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:08:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:08:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:08:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:08:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:08:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070279m	[env.py: 870]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86883436  0.16033011  0.07027907] yaw=149.3deg	[env.py: 1019]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64296998  0.7162532   0.07027907] yaw=-160.2deg	[env.py: 1019]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9768745   0.80955307  0.07027907] yaw=-149.6deg	[env.py: 1019]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:08:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms	[env.py: 1075]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.160, 0.070)	[env.py: 1079]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
+05/11 00:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:08:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:08:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:08:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:08:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:08:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:08:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:08:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.457[m] 93.240[deg]	[grasp_sample.py: 539]
+05/11 00:08:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:08:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:08:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:08:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:08:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:08:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:09:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:09:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:35 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:09:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:09:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:09:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:09:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:09:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:09:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.790s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:09:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.278[deg]	[grasp_sample.py: 539]
+05/11 00:09:38 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:09:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:09:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:09:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:09:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:09:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:09:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:09:40 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]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071570m	[env.py: 870]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:09:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85731504  0.14065876  0.07156992] yaw=157.1deg	[env.py: 1019]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80879941  0.02093738  0.07156992] yaw=142.0deg	[env.py: 1019]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96438839  1.08735741  0.07156992] yaw=-131.8deg	[env.py: 1019]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:09:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms	[env.py: 1075]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.141, 0.072)	[env.py: 1079]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
+05/11 00:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:09:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:09:40 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:09:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:09:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:09:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:09:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:09:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:09:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.497[m] 97.350[deg]	[grasp_sample.py: 539]
+05/11 00:09:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:09:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:09:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:09:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:09:58 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:09:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:09:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:10:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:10:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:10:11 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/11 00:10:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:10:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:10:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.07s (batch: 4.31s, save: 8.77s)	[pipeline.py: 300]
+05/11 00:10:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.64s:
+  episode_total: mean=209.61s, total=209.61s, count=1, min=209608.9ms, max=209608.9ms
+  sensor_polling: mean=529.5ms, total=158.84s, count=300, min=444.4ms, max=925.0ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8766.2ms, max=8766.2ms
+  physics_step: mean=26.7ms, total=8.00s, count=300, min=16.3ms, max=86.9ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4308.2ms, max=4308.2ms
+  task_sampling: mean=637.4ms, total=637.4ms, count=1, min=637.4ms, max=637.4ms
+  task_specific_sample: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:10:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:10:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:10:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:10:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:10:14 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]
+05/11 00:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:10:14 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]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057305m	[env.py: 870]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85454749  0.78435141  0.05730464] yaw=-165.7deg	[env.py: 1019]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63991555  0.31565095  0.05730464] yaw=168.4deg	[env.py: 1019]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73269485  0.88432563  0.05730464] yaw=-148.2deg	[env.py: 1019]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.2ms	[env.py: 1075]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.784, 0.057)	[env.py: 1079]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg	[env.py: 1082]
+05/11 00:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:10:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:10:14 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:10:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:10:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:10:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 91.522[deg]	[grasp_sample.py: 539]
+05/11 00:10:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:10:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:10:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:10:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.68s (batch: 4.32s, save: 8.36s)	[pipeline.py: 300]
+05/11 00:10:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.55s:
+  episode_total: mean=203.42s, total=203.42s, count=1, min=203419.8ms, max=203419.8ms
+  sensor_polling: mean=549.8ms, total=152.83s, count=278, min=456.0ms, max=1028.4ms
+  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8361.5ms, max=8361.5ms
+  physics_step: mean=29.0ms, total=8.06s, count=278, min=19.1ms, max=118.3ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.4ms, max=4323.4ms
+  task_sampling: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms
+  task_specific_sample: mean=549.4ms, total=549.4ms, count=1, min=549.4ms, max=549.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=406.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:10:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:10:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:10:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:10:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:10:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:10:26 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]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018697m	[env.py: 870]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:10:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:10:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:10:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:10:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:10:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89170485  0.40465601  0.01869745] yaw=168.3deg	[env.py: 1019]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65008164  0.68341024  0.01869745] yaw=-175.8deg	[env.py: 1019]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00693277  0.8157816   0.01869745] yaw=-151.0deg	[env.py: 1019]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:10:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.2ms	[env.py: 1075]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.405, 0.019)	[env.py: 1079]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
+05/11 00:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:10:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:10:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:10:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:10:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:10:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:10:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:10:27 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:10:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.221[deg]	[grasp_sample.py: 539]
+05/11 00:10:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:10:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.420[m] 102.240[deg]	[grasp_sample.py: 539]
+05/11 00:10:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:10:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:10:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:10:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:10:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:10:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:10:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:10:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:10:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:10:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:10:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030732m	[env.py: 870]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:10:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10912003  1.18666498  0.03073171] yaw=-130.1deg	[env.py: 1019]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10404022  1.05447586  0.03073171] yaw=-130.1deg	[env.py: 1019]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75523852  0.50121558  0.03073171] yaw=-189.0deg	[env.py: 1019]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms	[env.py: 1075]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.109, 1.187, 0.031)	[env.py: 1079]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg	[env.py: 1082]
+05/11 00:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:10:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:10:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:10:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:10:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:10:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:10:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:10:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.508[m] 88.693[deg]	[grasp_sample.py: 539]
+05/11 00:10:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:10:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:10:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:10:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:10:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:10:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:11:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:11:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:11:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:12:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:12:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:12:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:12:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:12:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:12:06 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.127[deg]	[grasp_sample.py: 539]
+05/11 00:12:07 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:12:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:12:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:12:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:12:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:12:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:12:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:12:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032131m	[env.py: 870]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:12:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88501483  0.22460582  0.03213097] yaw=169.1deg	[env.py: 1019]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91266046  1.05139448  0.03213097] yaw=-139.3deg	[env.py: 1019]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92274396  0.9554116   0.03213097] yaw=-137.5deg	[env.py: 1019]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:12:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=227.9ms	[env.py: 1075]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.225, 0.032)	[env.py: 1079]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/11 00:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:12:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:12:10 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:12:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:12:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:12:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:12:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:12:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:12:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.390[m] 84.064[deg]	[grasp_sample.py: 539]
+05/11 00:12:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:12:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:12:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:12:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:12:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:12:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:12:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:12:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:12:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:12:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.104[m] 1.609[deg]	[grasp_sample.py: 539]
+05/11 00:12:46 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:12:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:12:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:12:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035606m	[env.py: 870]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85078243  0.66873947  0.03560574] yaw=-172.4deg	[env.py: 1019]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76226001  0.54167845  0.03560574] yaw=-174.0deg	[env.py: 1019]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77795917  0.45343016  0.03560574] yaw=188.0deg	[env.py: 1019]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.2ms, total=145.2ms	[env.py: 1075]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.669, 0.036)	[env.py: 1079]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg	[env.py: 1082]
+05/11 00:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:12:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:12:48 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:12:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:12:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.644[deg]	[grasp_sample.py: 539]
+05/11 00:12:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:12:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:12:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:12:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:12:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:13:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:13:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:13:10 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:13:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:13:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:13:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:13:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:13:31 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:13:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:13:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:13:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:13:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:13:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.83s (batch: 4.41s, save: 8.42s)	[pipeline.py: 300]
+05/11 00:13:33 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
+  episode_total: mean=199.13s, total=199.13s, count=1, min=199126.7ms, max=199126.7ms
+  sensor_polling: mean=511.4ms, total=153.42s, count=300, min=449.0ms, max=887.9ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8419.9ms, max=8419.9ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=16.0ms, max=51.5ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.9ms, max=4413.9ms
+  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  task_specific_sample: mean=477.6ms, total=477.6ms, count=1, min=477.6ms, max=477.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=462.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:13:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:13:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:13:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:13:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:13:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:13:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:13:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004134m	[env.py: 870]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:13:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62842221  0.5066583   0.00413355] yaw=-171.5deg	[env.py: 1019]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94229332  0.92176437  0.00413355] yaw=-146.5deg	[env.py: 1019]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78415427  0.01158756  0.00413355] yaw=144.1deg	[env.py: 1019]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.2ms, total=127.2ms	[env.py: 1075]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.507, 0.004)	[env.py: 1079]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg	[env.py: 1082]
+05/11 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:13:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:13:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:13:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:13:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:13:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:13:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 84.501[deg]	[grasp_sample.py: 539]
+05/11 00:13:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:13:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:13:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:13:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:13:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:13:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.24s (batch: 4.49s, save: 8.74s)	[pipeline.py: 300]
+05/11 00:13:45 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
+  episode_total: mean=198.41s, total=198.41s, count=1, min=198409.6ms, max=198409.6ms
+  sensor_polling: mean=502.9ms, total=150.87s, count=300, min=446.8ms, max=794.1ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8743.1ms, max=8743.1ms
+  physics_step: mean=25.8ms, total=7.75s, count=300, min=16.0ms, max=53.0ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.8ms, max=4494.8ms
+  task_sampling: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  task_specific_sample: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=441.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:13:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:13:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:13:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:13:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:13:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:13:46 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]
+05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060902m	[env.py: 870]
+05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82941981  0.00857258  0.06090218] yaw=142.2deg	[env.py: 1019]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10926748  1.06259711  0.06090218] yaw=-137.5deg	[env.py: 1019]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9947586   0.98309959  0.06090218] yaw=-142.4deg	[env.py: 1019]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.5ms	[env.py: 1075]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.009, 0.061)	[env.py: 1079]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.2 deg	[env.py: 1082]
+05/11 00:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:13:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:13:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:13:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:13:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:13:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.582[m] 95.125[deg]	[grasp_sample.py: 539]
+05/11 00:13:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:13:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:13:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:14:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:14:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:14:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:14:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:14:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:14:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.761[deg]	[grasp_sample.py: 539]
+05/11 00:14:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:14:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:14:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:14:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:14:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:15:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:15:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:15:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:15:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:15:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:15:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:15:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:15:36 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:15:36 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.156[deg]	[grasp_sample.py: 539]
+05/11 00:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:15:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:15:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:15:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:15:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:15:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:15:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:15:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.17s (batch: 3.70s, save: 8.47s)	[pipeline.py: 300]
+05/11 00:15:54 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.95s:
+  episode_total: mean=148.96s, total=744.78s, count=5, min=121883.4ms, max=186735.3ms
+  sensor_polling: mean=504.1ms, total=607.40s, count=1205, min=435.7ms, max=989.7ms
+  physics_step: mean=23.6ms, total=28.44s, count=1205, min=16.0ms, max=87.6ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8470.4ms, max=8470.4ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3701.2ms, max=3701.2ms
+  task_sampling: mean=590.2ms, total=2.95s, count=5, min=415.3ms, max=896.1ms
+  task_specific_sample: mean=585.4ms, total=2.93s, count=5, min=411.9ms, max=892.3ms
+  scene_randomize: mean=2.7ms, total=13.7ms, count=5, min=1.2ms, max=6.7ms
+  mj_forward_sync: mean=470.2us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:15:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:15:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:15:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:15:56 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]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049451m	[env.py: 870]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70417083  0.08686773  0.04945128] yaw=164.3deg	[env.py: 1019]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9833753   0.7903258   0.04945128] yaw=-156.0deg	[env.py: 1019]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81234298  0.1782371   0.04945128] yaw=168.8deg	[env.py: 1019]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.3ms	[env.py: 1075]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.087, 0.049)	[env.py: 1079]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
+05/11 00:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:15:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:15:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:15:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:15:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:15:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:15:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.652[m] 93.273[deg]	[grasp_sample.py: 539]
+05/11 00:15:59 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:16:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:16:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:16:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:16:01 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]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061998m	[env.py: 870]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87196158  0.20109995  0.06199841] yaw=166.1deg	[env.py: 1019]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97288001  1.14286431  0.06199841] yaw=-128.1deg	[env.py: 1019]
+05/11 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=318.1ms, total=318.2ms	[env.py: 1075]
+05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.201, 0.062)	[env.py: 1079]
+05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
+05/11 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:16:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:16:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:16:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:16:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:16:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.428[m] 95.243[deg]	[grasp_sample.py: 539]
+05/11 00:16:03 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:16:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:16:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:16:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:16:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:16:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:16:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:16:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:16:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.29s (batch: 4.52s, save: 8.77s)	[pipeline.py: 300]
+05/11 00:16:17 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.38s:
+  episode_total: mean=186.40s, total=559.20s, count=3, min=147321.1ms, max=247492.3ms
+  sensor_polling: mean=509.8ms, total=417.01s, count=818, min=439.2ms, max=1095.2ms
+  physics_step: mean=24.8ms, total=20.28s, count=818, min=14.1ms, max=94.3ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8771.1ms, max=8771.1ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
+  task_sampling: mean=458.4ms, total=1.38s, count=3, min=400.3ms, max=503.8ms
+  task_specific_sample: mean=454.9ms, total=1.36s, count=3, min=396.6ms, max=500.4ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=428.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, 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]
+05/11 00:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:16:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:16:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013286m	[env.py: 870]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01383251  1.32286384  0.01328606] yaw=-125.2deg	[env.py: 1019]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67374759  0.84359604  0.01328606] yaw=-168.1deg	[env.py: 1019]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07590556  1.26099395  0.01328606] yaw=-129.0deg	[env.py: 1019]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.5ms, total=92.5ms	[env.py: 1075]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.323, 0.013)	[env.py: 1079]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg	[env.py: 1082]
+05/11 00:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:16:19 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:16:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:16:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:16:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:16:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.568s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 00:16:20 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 00:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:16:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:16:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:16:22 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]
+05/11 00:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:16:22 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]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095217m	[env.py: 870]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07162109  1.24958402  0.09521713] yaw=-127.1deg	[env.py: 1019]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79476942  0.17797388  0.09521713] yaw=164.4deg	[env.py: 1019]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9157382   0.8270105   0.09521713] yaw=-158.7deg	[env.py: 1019]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.1ms, total=351.1ms	[env.py: 1075]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.250, 0.095)	[env.py: 1079]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg	[env.py: 1082]
+05/11 00:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:16:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:16:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:16:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:16:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:16:25 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.591[m] 87.299[deg]	[grasp_sample.py: 539]
+05/11 00:16:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:16:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:16:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:16:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:16:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:16:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:16:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:16:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:16:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:16:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.37s (batch: 4.22s, save: 8.15s)	[pipeline.py: 300]
+05/11 00:16:44 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=189.59s, total=189.59s, count=1, min=189588.5ms, max=189588.5ms
+  sensor_polling: mean=483.2ms, total=144.97s, count=300, min=448.9ms, max=816.6ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8150.9ms, max=8150.9ms
+  physics_step: mean=21.8ms, total=6.55s, count=300, min=18.4ms, max=35.6ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4215.3ms, max=4215.3ms
+  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
+  task_specific_sample: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:16:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:16:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:16:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031804m	[env.py: 870]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64433095  0.60474055  0.03180382] yaw=-178.1deg	[env.py: 1019]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89454969  0.78861653  0.03180382] yaw=-162.3deg	[env.py: 1019]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76236143  0.55153264  0.03180382] yaw=-175.7deg	[env.py: 1019]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.1ms	[env.py: 1075]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.605, 0.032)	[env.py: 1079]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg	[env.py: 1082]
+05/11 00:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:16:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:16:46 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:16:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:16:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:16:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:16:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:16:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:16:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 93.514[deg]	[grasp_sample.py: 539]
+05/11 00:16:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:16:47 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:16:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:16:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:16:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:16:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:16:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:16:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:17:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:17:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:17:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.37s, save: 8.58s)	[pipeline.py: 300]
+05/11 00:17:01 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
+  episode_total: mean=194.50s, total=194.50s, count=1, min=194503.0ms, max=194503.0ms
+  sensor_polling: mean=493.0ms, total=147.89s, count=300, min=460.2ms, max=878.0ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8584.2ms, max=8584.2ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.5ms, max=67.4ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.6ms, max=4374.6ms
+  task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms
+  task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=424.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:17:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:17:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:17:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:17:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:17:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:17:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:17:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032433m	[env.py: 870]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:17:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93064137  0.081307    0.03243307] yaw=156.0deg	[env.py: 1019]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97881197  1.15593387  0.03243307] yaw=-146.9deg	[env.py: 1019]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81505736  0.39898725  0.03243307] yaw=172.5deg	[env.py: 1019]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:17:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms	[env.py: 1075]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.081, 0.032)	[env.py: 1079]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
+05/11 00:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:17:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:17:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:17:03 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:17:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:17:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:17:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:17:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:17:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:17:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:17:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.410[m] 88.452[deg]	[grasp_sample.py: 539]
+05/11 00:17:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:17:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:17:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:17:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:17:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:17:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:17:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:17:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:17:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:18:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:18:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:18:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:18:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:18:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:18:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.908[deg]	[grasp_sample.py: 539]
+05/11 00:18:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:18:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:18:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:18:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:18:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:18:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:18:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:18:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:18:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]	[grasp_sample.py: 539]
+05/11 00:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:18:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:18:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:18:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:18:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:18:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:18:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.666s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 00:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 00:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:18:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:18:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:18:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:18:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:18:36 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]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089492m	[env.py: 870]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74443993  0.39961781  0.08949196] yaw=172.7deg	[env.py: 1019]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89895806  1.22558512  0.08949196] yaw=-126.2deg	[env.py: 1019]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75884892  0.76753317  0.08949196] yaw=-160.7deg	[env.py: 1019]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.8ms	[env.py: 1075]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.400, 0.089)	[env.py: 1079]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/11 00:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:18:36 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:18:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:18:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:18:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:18:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 84.906[deg]	[grasp_sample.py: 539]
+05/11 00:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:18:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:18:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:18:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:18:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:18:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:18:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:18:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]	[grasp_sample.py: 539]
+05/11 00:18:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:18:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:18:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:18:54 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 00:18:54 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:19:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:19:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:19:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.266[deg]	[grasp_sample.py: 539]
+05/11 00:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:19:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:19:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:13 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:19:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:19:13 INFO: [Worker 0] Preparing episode data: 250 timesteps	[save_utils.py: 278]
+05/11 00:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:22 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:19:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:19:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:19:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:19:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:19:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]	[grasp_sample.py: 539]
+05/11 00:19:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:19:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:19:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.02s (batch: 4.04s, save: 6.98s)	[pipeline.py: 300]
+05/11 00:19:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:19:25 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.07s:
+  episode_total: mean=103.36s, total=206.71s, count=2, min=3306.8ms, max=203407.1ms
+  sensor_polling: mean=503.4ms, total=125.34s, count=249, min=454.0ms, max=855.4ms
+  save_trajectories: mean=6.98s, total=6.98s, count=1, min=6980.6ms, max=6980.6ms
+  physics_step: mean=23.3ms, total=5.81s, count=249, min=13.2ms, max=40.2ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4036.0ms, max=4036.0ms
+  task_sampling: mean=534.7ms, total=1.07s, count=2, min=462.8ms, max=606.5ms
+  task_specific_sample: mean=531.1ms, total=1.06s, count=2, min=458.9ms, max=603.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, 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]
+05/11 00:19:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:19:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:19:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:19:26 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:19:26 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:19:26 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
+05/11 00:19:26 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5250.35s
+  House averages:
+  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
+  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
+  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
+  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
+  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
+  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
+  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
+  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
+  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
+  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 00:19:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 00:19:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5250.35s
+  Worker averages:
+  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
+  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
+  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
+  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
+  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
+  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
+  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
+  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
+  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
+  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 00:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 00:19:29 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
+05/11 00:19:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 00:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:19:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:19:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:19:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:19:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:19:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:19:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.393s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:19:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]	[grasp_sample.py: 539]
+05/11 00:19:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:19:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:19:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:19:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:19:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:19:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:19:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 00:19:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:19:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:19:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:19:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.21s (batch: 4.12s, save: 8.09s)	[pipeline.py: 300]
+05/11 00:19:55 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=189.43s, total=189.43s, count=1, min=189430.5ms, max=189430.5ms
+  sensor_polling: mean=483.8ms, total=145.14s, count=300, min=445.4ms, max=743.5ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8091.4ms, max=8091.4ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.8ms, max=37.5ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.8ms, max=4120.8ms
+  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
+  task_specific_sample: mean=424.6ms, total=424.6ms, count=1, min=424.6ms, max=424.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=443.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:19:57 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:19:57 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:19:57 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
+05/11 00:19:57 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5349.33s
+  House averages:
+  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
+  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
+  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
+  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
+  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
+  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
+  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
+  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
+  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
+  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 00:19:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 00:19:57 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5349.33s
+  Worker averages:
+  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
+  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
+  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
+  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
+  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
+  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
+  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
+  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
+  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
+  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 00:20:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 00:20:00 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
+05/11 00:20:00 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 00:20:08 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:20:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:20:08 INFO: [Worker 0] Preparing episode data: 244 timesteps	[save_utils.py: 278]
+05/11 00:20:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:20:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:20:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 9.84s (batch: 3.62s, save: 6.22s)	[pipeline.py: 300]
+05/11 00:20:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
+  episode_total: mean=195.32s, total=195.32s, count=1, min=195317.0ms, max=195317.0ms
+  sensor_polling: mean=503.3ms, total=122.29s, count=243, min=447.8ms, max=818.2ms
+  save_trajectories: mean=6.22s, total=6.22s, count=1, min=6222.5ms, max=6222.5ms
+  physics_step: mean=23.1ms, total=5.60s, count=243, min=12.6ms, max=36.4ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.9ms, max=3620.9ms
+  task_sampling: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms
+  task_specific_sample: mean=522.7ms, total=522.7ms, count=1, min=522.7ms, max=522.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:20:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:20:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:20:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:20:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043930m	[env.py: 870]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91663066  0.44829891  0.04393008] yaw=176.0deg	[env.py: 1019]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92782478  0.40941618  0.04393008] yaw=174.1deg	[env.py: 1019]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76777478  0.43333956  0.04393008] yaw=184.3deg	[env.py: 1019]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms	[env.py: 1075]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.917, 0.448, 0.044)	[env.py: 1079]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
+05/11 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:20:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:20:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:20:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:20:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:20:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 90.816[deg]	[grasp_sample.py: 539]
+05/11 00:20:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:20:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:20:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:20:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:20:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:20:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:20:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:20:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:20:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.390s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:20:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.623[deg]	[grasp_sample.py: 539]
+05/11 00:20:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:20:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:20:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:21:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:21:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:21:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:21:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:21:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:21:18 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:21:40 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:21:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:21:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:21:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:21:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.10s (batch: 4.18s, save: 7.93s)	[pipeline.py: 300]
+05/11 00:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:53 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.56s:
+  episode_total: mean=110.36s, total=331.08s, count=3, min=2082.7ms, max=197304.1ms
+  sensor_polling: mean=473.8ms, total=251.11s, count=530, min=433.4ms, max=971.4ms
+  physics_step: mean=22.4ms, total=11.85s, count=530, min=14.1ms, max=62.1ms
+  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7928.1ms, max=7928.1ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.1ms, max=4176.1ms
+  task_sampling: mean=518.4ms, total=1.56s, count=3, min=383.8ms, max=668.5ms
+  task_specific_sample: mean=515.1ms, total=1.55s, count=3, min=379.9ms, max=665.4ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=436.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:21:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:21:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:21:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:21:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:21:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:21:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:21:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:21:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:21:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:21:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:21:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:21:54 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]
+05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054893m	[env.py: 870]
+05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:21:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80740238  0.49292804  0.05489308] yaw=-181.1deg	[env.py: 1019]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74997077  0.8489766   0.05489308] yaw=-156.1deg	[env.py: 1019]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05290098  1.23716377  0.05489308] yaw=-133.3deg	[env.py: 1019]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:21:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms	[env.py: 1075]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.493, 0.055)	[env.py: 1079]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg	[env.py: 1082]
+05/11 00:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:21:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:21:55 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:21:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:21:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:21:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:21:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:21:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:21:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.694[deg]	[grasp_sample.py: 539]
+05/11 00:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:21:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:21:56 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.539[deg]	[grasp_sample.py: 539]
+05/11 00:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:22:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:22:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:23:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:23:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:23:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:23:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:23:07 INFO: [Worker 0] Feasibility-checked 80 grasps in 5.001s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:23:07 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.220[m] 2.574[deg]	[grasp_sample.py: 539]
+05/11 00:23:09 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:23:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:23:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:23:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:23:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:23:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:23:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:23:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005371m	[env.py: 870]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:23:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.128627    1.02231112  0.00537099] yaw=-134.7deg	[env.py: 1019]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82425605  0.46446219  0.00537099] yaw=178.3deg	[env.py: 1019]
+05/11 00:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97660783  0.84707616  0.00537099] yaw=-151.1deg	[env.py: 1019]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms	[env.py: 1075]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.129, 1.022, 0.005)	[env.py: 1079]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
+05/11 00:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:23:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:23:12 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:23:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:23:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:23:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:23:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 98.149[deg]	[grasp_sample.py: 539]
+05/11 00:23:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:23:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:24:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:24:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:24:39 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:25:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:25:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:25:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:25:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:25:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:25:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.34s (batch: 4.06s, save: 9.28s)	[pipeline.py: 300]
+05/11 00:25:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
+  episode_total: mean=201.22s, total=201.22s, count=1, min=201217.3ms, max=201217.3ms
+  sensor_polling: mean=490.1ms, total=147.03s, count=300, min=431.1ms, max=817.7ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9279.8ms, max=9279.8ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=18.2ms, max=63.0ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.8ms, max=4060.8ms
+  task_sampling: mean=489.7ms, total=489.7ms, count=1, min=489.7ms, max=489.7ms
+  task_specific_sample: mean=485.7ms, total=485.7ms, count=1, min=485.7ms, max=485.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=436.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:25:17 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:25:17 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:25:17 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/11 00:25:17 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5856.09s
+  House averages:
+  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
+  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
+  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
+  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
+  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
+  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
+  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
+  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
+  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
+  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
+  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
+  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 00:25:17 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 00:25:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5856.09s
+  Worker averages:
+  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
+  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
+  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
+  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
+  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
+  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
+  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
+  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
+  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
+  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
+  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
+  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 00:25:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 00:25:20 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/11 00:25:20 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 00:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:25:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:25:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:25:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:25:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.313[deg]	[grasp_sample.py: 539]
+05/11 00:25:45 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:25:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:25:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:25:47 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]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037244m	[env.py: 870]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78373324  0.23722014  0.03724358] yaw=156.3deg	[env.py: 1019]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75729493  0.1657867   0.03724358] yaw=171.4deg	[env.py: 1019]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69211738  0.3782578   0.03724358] yaw=170.4deg	[env.py: 1019]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.7ms	[env.py: 1075]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.237, 0.037)	[env.py: 1079]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg	[env.py: 1082]
+05/11 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:25:48 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:25:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:25:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.491[m] 83.767[deg]	[grasp_sample.py: 539]
+05/11 00:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:25:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:26:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:26:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:26:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:28:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:28:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:28:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:28:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:28:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:28:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.199[deg]	[grasp_sample.py: 539]
+05/11 00:28:22 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:28:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:28:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:28:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:28:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:28:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:28:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:28:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040236m	[env.py: 870]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:28:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05873521  0.95409354  0.04023558] yaw=-141.0deg	[env.py: 1019]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79465555  0.69790454  0.04023558] yaw=-165.6deg	[env.py: 1019]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08199218  0.92350861  0.04023558] yaw=-145.1deg	[env.py: 1019]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:28:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.2ms, total=106.2ms	[env.py: 1075]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 0.954, 0.040)	[env.py: 1079]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
+05/11 00:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:28:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:28:24 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:28:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:28:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:28:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:28:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:28:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:28:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.340[m] 80.802[deg]	[grasp_sample.py: 539]
+05/11 00:28:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:28:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:28:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:28:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:29:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:29:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:30:48 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:31:10 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_011	[pipeline.py: 1174]
+05/11 00:31:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:31:10 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 00:31:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:31:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011	[save_utils.py: 785]
+05/11 00:31:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.03s (batch: 3.79s, save: 8.24s)	[pipeline.py: 300]
+05/11 00:31:23 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.96s:
+  episode_total: mean=164.43s, total=657.73s, count=4, min=153836.6ms, max=179299.6ms
+  sensor_polling: mean=468.8ms, total=526.01s, count=1122, min=406.6ms, max=1062.9ms
+  physics_step: mean=21.7ms, total=24.30s, count=1122, min=13.3ms, max=73.6ms
+  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8241.0ms, max=8241.0ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.4ms, max=3791.4ms
+  task_sampling: mean=491.0ms, total=1.96s, count=4, min=348.0ms, max=629.2ms
+  task_specific_sample: mean=487.2ms, total=1.95s, count=4, min=344.8ms, max=624.8ms
+  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=469.7us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:31:24 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:31:24 WARNING: [Worker 0] No trajectory data to save for chunk_011	[pipeline.py: 234]
+05/11 00:31:24 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/11 00:31:24 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6562.01s
+  House averages:
+  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
+  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
+  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
+  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
+  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
+  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
+  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
+  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
+  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
+  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
+  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
+  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  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]
+05/11 00:31:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 00:31:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6562.01s
+  Worker averages:
+  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
+  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
+  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
+  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
+  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
+  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
+  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
+  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
+  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
+  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
+  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
+  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  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]
+05/11 00:31:27 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 00:31:27 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/11 00:31:27 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_011/shard_1_of_4.log b/fridge_7/chunk_011/shard_1_of_4.log
index a25258efa52f0e292270e31522d449ca9e58e967..0742e6ea88c79c83b900d7fa2c1f5aeb2be1f684 100644
--- a/fridge_7/chunk_011/shard_1_of_4.log
+++ b/fridge_7/chunk_011/shard_1_of_4.log
@@ -844,3 +844,932 @@ ValueError: IK failed for pregrasp pose
 [05/10 23:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 23:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
 [05/10 23:55:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:55:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:55:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:55:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:56:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:56:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:56:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.47s (batch: 4.29s, save: 9.18s)
+[05/10 23:56:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
+  episode_total: mean=218.00s, total=218.00s, count=1, min=218002.1ms, max=218002.1ms
+  sensor_polling: mean=538.6ms, total=161.59s, count=300, min=459.3ms, max=1176.5ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9182.3ms, max=9182.3ms
+  physics_step: mean=28.5ms, total=8.56s, count=300, min=15.7ms, max=189.5ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4289.1ms, max=4289.1ms
+  task_sampling: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  task_specific_sample: mean=596.4ms, total=596.4ms, count=1, min=596.4ms, max=596.4ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=748.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:56:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:56:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:56:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:56:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 23:56:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:56:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:56:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023335m
+[05/10 23:56:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:56:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:56:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:56:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86432997  0.84252489  0.02333533] yaw=-164.2deg
+[05/10 23:56:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:56:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:56:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:56:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91508099  0.20651396  0.02333533] yaw=160.7deg
+[05/10 23:56:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:56:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78021082  1.03448981  0.02333533] yaw=-139.8deg
+[05/10 23:56:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:56:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:56:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.6ms
+[05/10 23:56:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.843, 0.023)
+[05/10 23:56:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg
+[05/10 23:56:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:56:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:56:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 23:56:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.119s
+[05/10 23:56:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:56:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:56:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps
+[05/10 23:56:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True
+[05/10 23:56:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.502[m] 92.481[deg]
+[05/10 23:56:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:56:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:56:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:57:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:58:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:59:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:59:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/10 23:59:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:59:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:59:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:59:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 16.85s (batch: 5.57s, save: 11.28s)
+[05/10 23:59:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.55s:
+  episode_total: mean=211.34s, total=211.34s, count=1, min=211342.5ms, max=211342.5ms
+  sensor_polling: mean=520.9ms, total=156.28s, count=300, min=442.1ms, max=1081.9ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11275.1ms, max=11275.1ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=14.5ms, max=105.2ms
+  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5574.9ms, max=5574.9ms
+  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  task_specific_sample: mean=547.3ms, total=547.3ms, count=1, min=547.3ms, max=547.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=570.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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
+[05/10 23:59:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:59:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:59:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/10 23:59:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:59:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:59:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071982m
+[05/10 23:59:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:59:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:59:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70248301  0.77801871  0.07198168] yaw=-159.2deg
+[05/10 23:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72346045  0.42004062  0.07198168] yaw=173.0deg
+[05/10 23:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85461335  0.45520395  0.07198168] yaw=168.1deg
+[05/10 23:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.0ms, total=125.0ms
+[05/10 23:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.778, 0.072)
+[05/10 23:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg
+[05/10 23:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 23:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
+[05/10 23:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 23:59:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True
+[05/10 23:59:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.222[deg]
+[05/10 23:59:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:59:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:59:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:59:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/10 23:59:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:59:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:59:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089259m
+[05/10 23:59:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:59:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:59:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78927458  0.52724267  0.08925889] yaw=-183.5deg
+[05/10 23:59:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89538272  0.25831854  0.08925889] yaw=174.4deg
+[05/10 23:59:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:59:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87299348  0.88731642  0.08925889] yaw=-155.0deg
+[05/10 23:59:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:59:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:59:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.5ms
+[05/10 23:59:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.527, 0.089)
+[05/10 23:59:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.5 deg
+[05/10 23:59:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.914m
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:59:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 23:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 23:59:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 23:59:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True
+[05/10 23:59:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.455[m] 83.776[deg]
+[05/10 23:59:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:00:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:02:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:03:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/11 00:03:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:03:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:03:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 15.07s (batch: 4.00s, save: 11.07s)
+[05/11 00:03:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.97s:
+  episode_total: mean=108.72s, total=217.43s, count=2, min=3548.4ms, max=213885.7ms
+  sensor_polling: mean=517.1ms, total=155.13s, count=300, min=446.3ms, max=750.4ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11071.1ms, max=11071.1ms
+  physics_step: mean=25.7ms, total=7.72s, count=300, min=15.1ms, max=79.1ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.9ms, max=4002.9ms
+  task_sampling: mean=486.8ms, total=973.6ms, count=2, min=473.2ms, max=500.4ms
+  task_specific_sample: mean=482.7ms, total=965.3ms, count=2, min=467.9ms, max=497.4ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.1ms, max=3.3ms
+  mj_forward_sync: mean=521.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/11 00:03:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:03:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:03:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:03:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/11 00:03:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:03:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:03:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093836m
+[05/11 00:03:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:03:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:03:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93924024  0.17880052  0.09383583] yaw=161.8deg
+[05/11 00:03:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:03:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8455813   0.47097903  0.09383583] yaw=178.3deg
+[05/11 00:03:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:03:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90405564  0.76932554  0.09383583] yaw=-151.6deg
+[05/11 00:03:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:03:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:03:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.5ms
+[05/11 00:03:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.179, 0.094)
+[05/11 00:03:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg
+[05/11 00:03:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.821m
+[05/11 00:03:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:03:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/11 00:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/11 00:03:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:03:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:03:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/11 00:03:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True
+[05/11 00:03:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 93.763[deg]
+[05/11 00:03:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:05:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:05:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:05:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:05:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:05:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:05:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps
+[05/11 00:05:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.234s, found feasible grasp: True
+[05/11 00:05:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.125[deg]
+[05/11 00:05:23 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:05:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:05:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:05:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:05:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:05:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:05:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:05:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:05:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/11 00:05:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:05:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:05:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009926m
+[05/11 00:05:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:05:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:05:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86351947  0.33482369  0.00992606] yaw=158.6deg
+[05/11 00:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97826632  0.88410955  0.00992606] yaw=-160.3deg
+[05/11 00:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88567284  0.83558895  0.00992606] yaw=-150.9deg
+[05/11 00:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:05:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:05:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=538.2ms, total=538.2ms
+[05/11 00:05:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.335, 0.010)
+[05/11 00:05:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg
+[05/11 00:05:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
+[05/11 00:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:05:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:05:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/11 00:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.115s
+[05/11 00:05:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:05:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:05:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/11 00:05:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.201s, found feasible grasp: True
+[05/11 00:05:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.474[m] 101.918[deg]
+[05/11 00:05:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:05:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:05:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:06:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:07:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:07:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:07:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:07:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:07:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:07:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:07:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 80 non-colliding grasps
+[05/11 00:07:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True
+[05/11 00:07:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.074[deg]
+[05/11 00:07:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:08:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:08:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:08:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:08:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/11 00:08:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:08:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:08:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070279m
+[05/11 00:08:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:08:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:08:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:08:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86883436  0.16033011  0.07027907] yaw=149.3deg
+[05/11 00:08:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:08:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:08:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:08:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64296998  0.7162532   0.07027907] yaw=-160.2deg
+[05/11 00:08:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:08:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:08:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9768745   0.80955307  0.07027907] yaw=-149.6deg
+[05/11 00:08:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:08:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:08:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms
+[05/11 00:08:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.160, 0.070)
+[05/11 00:08:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg
+[05/11 00:08:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:08:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:08:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:08:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/11 00:08:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.117s
+[05/11 00:08:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:08:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:08:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/11 00:08:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
+[05/11 00:08:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.457[m] 93.240[deg]
+[05/11 00:08:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:09:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:10:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:10:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:10:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:10:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:10:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:10:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.221[deg]
+[05/11 00:10:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:10:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:10:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:10:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:10:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/11 00:10:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:10:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:10:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030732m
+[05/11 00:10:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:10:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:10:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:10:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10912003  1.18666498  0.03073171] yaw=-130.1deg
+[05/11 00:10:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:10:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10404022  1.05447586  0.03073171] yaw=-130.1deg
+[05/11 00:10:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:10:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75523852  0.50121558  0.03073171] yaw=-189.0deg
+[05/11 00:10:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:10:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:10:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms
+[05/11 00:10:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.109, 1.187, 0.031)
+[05/11 00:10:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg
+[05/11 00:10:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:10:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:10:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:10:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/11 00:10:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/11 00:10:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:10:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:10:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:10:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True
+[05/11 00:10:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.508[m] 88.693[deg]
+[05/11 00:10:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:11:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:12:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:12:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:12:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:12:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:12:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:12:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:12:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/11 00:12:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.578s, found feasible grasp: True
+[05/11 00:12:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.104[m] 1.609[deg]
+[05/11 00:12:46 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:12:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:12:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:12:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:12:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
+[05/11 00:12:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:12:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:12:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035606m
+[05/11 00:12:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:12:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:12:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:12:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:12:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85078243  0.66873947  0.03560574] yaw=-172.4deg
+[05/11 00:12:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:12:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76226001  0.54167845  0.03560574] yaw=-174.0deg
+[05/11 00:12:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:12:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77795917  0.45343016  0.03560574] yaw=188.0deg
+[05/11 00:12:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:12:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:12:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.2ms, total=145.2ms
+[05/11 00:12:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.669, 0.036)
+[05/11 00:12:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg
+[05/11 00:12:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.872m
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:12:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/11 00:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
+[05/11 00:12:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:12:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:12:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
+[05/11 00:12:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
+[05/11 00:12:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.644[deg]
+[05/11 00:12:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:13:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:15:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:15:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:15:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/11 00:15:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:15:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:15:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:15:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.17s (batch: 3.70s, save: 8.47s)
+[05/11 00:15:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=2.95s:
+  episode_total: mean=148.96s, total=744.78s, count=5, min=121883.4ms, max=186735.3ms
+  sensor_polling: mean=504.1ms, total=607.40s, count=1205, min=435.7ms, max=989.7ms
+  physics_step: mean=23.6ms, total=28.44s, count=1205, min=16.0ms, max=87.6ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8470.4ms, max=8470.4ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3701.2ms, max=3701.2ms
+  task_sampling: mean=590.2ms, total=2.95s, count=5, min=415.3ms, max=896.1ms
+  task_specific_sample: mean=585.4ms, total=2.93s, count=5, min=411.9ms, max=892.3ms
+  scene_randomize: mean=2.7ms, total=13.7ms, count=5, min=1.2ms, max=6.7ms
+  mj_forward_sync: mean=470.2us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
+[05/11 00:15:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:15:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:15:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:15:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/11 00:15:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:15:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:15:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049451m
+[05/11 00:15:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:15:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:15:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70417083  0.08686773  0.04945128] yaw=164.3deg
+[05/11 00:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:15:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9833753   0.7903258   0.04945128] yaw=-156.0deg
+[05/11 00:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81234298  0.1782371   0.04945128] yaw=168.8deg
+[05/11 00:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:15:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:15:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.3ms
+[05/11 00:15:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.087, 0.049)
+[05/11 00:15:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg
+[05/11 00:15:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:15:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:15:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/11 00:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/11 00:15:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:15:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:15:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:15:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True
+[05/11 00:15:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.652[m] 93.273[deg]
+[05/11 00:15:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:16:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:16:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:16:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:16:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/11 00:16:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:16:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:16:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061998m
+[05/11 00:16:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:16:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:16:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:16:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87196158  0.20109995  0.06199841] yaw=166.1deg
+[05/11 00:16:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97288001  1.14286431  0.06199841] yaw=-128.1deg
+[05/11 00:16:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:16:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:16:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=318.1ms, total=318.2ms
+[05/11 00:16:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.201, 0.062)
+[05/11 00:16:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg
+[05/11 00:16:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.877m
+[05/11 00:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:16:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/11 00:16:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/11 00:16:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:16:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:16:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/11 00:16:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True
+[05/11 00:16:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.428[m] 95.243[deg]
+[05/11 00:16:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:16:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:16:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:16:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:17:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:18:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:18:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:18:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:18:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:18:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps
+[05/11 00:18:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True
+[05/11 00:18:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.908[deg]
+[05/11 00:18:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:18:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:18:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/11 00:18:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:18:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:18:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
+[05/11 00:18:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.439s, found feasible grasp: True
+[05/11 00:18:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]
+[05/11 00:18:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:18:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:18:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:18:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/11 00:18:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:18:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:18:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
+[05/11 00:18:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.436s, found feasible grasp: True
+[05/11 00:18:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.832[deg]
+[05/11 00:18:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:18:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:18:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:18:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:18:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/11 00:18:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:19:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:19:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes
+[05/11 00:19:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 250 timesteps
+[05/11 00:19:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:19:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:19:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 11.02s (batch: 4.04s, save: 6.98s)
+[05/11 00:19:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.07s:
+  episode_total: mean=103.36s, total=206.71s, count=2, min=3306.8ms, max=203407.1ms
+  sensor_polling: mean=503.4ms, total=125.34s, count=249, min=454.0ms, max=855.4ms
+  save_trajectories: mean=6.98s, total=6.98s, count=1, min=6980.6ms, max=6980.6ms
+  physics_step: mean=23.3ms, total=5.81s, count=249, min=13.2ms, max=40.2ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4036.0ms, max=4036.0ms
+  task_sampling: mean=534.7ms, total=1.07s, count=2, min=462.8ms, max=606.5ms
+  task_specific_sample: mean=531.1ms, total=1.06s, count=2, min=458.9ms, max=603.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, 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
+[05/11 00:19:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:19:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:19:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/10 successful episodes
+[05/11 00:19:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5250.35s
+  House averages:
+  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
+  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
+  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
+  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
+  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
+  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
+  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
+  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
+  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
+  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/11 00:19:26 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/11 00:19:26 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5250.35s
+  Worker averages:
+  episode_total: mean=158.21s, total=2847.81s, count=18, min=3306.8ms, max=241545.7ms
+  sensor_polling: mean=514.5ms, total=2126.97s, count=4134, min=435.7ms, max=1176.5ms
+  physics_step: mean=24.9ms, total=102.89s, count=4134, min=13.2ms, max=189.5ms
+  save_trajectories: mean=10.00s, total=100.01s, count=10, min=6980.6ms, max=12651.7ms
+  save_batch_prep: mean=4.42s, total=44.16s, count=10, min=3641.0ms, max=5574.9ms
+  task_sampling: mean=688.8ms, total=12.40s, count=18, min=377.4ms, max=3400.4ms
+  task_specific_sample: mean=524.3ms, total=9.44s, count=18, min=374.6ms, max=892.3ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.0ms, max=2886.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.3ms, max=1956.3ms
+  scene_compile: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
+  compile_mujoco: mean=566.4ms, total=566.4ms, count=1, min=566.4ms, max=566.4ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=108.7ms, total=108.7ms, count=1, min=108.7ms, max=108.7ms
+  scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms
+  compile_aux_objects: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_policy_objects: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms
+  scene_randomize: mean=2.4ms, total=43.7ms, count=18, min=1.1ms, max=6.7ms
+  asset_install_grasps: mean=33.3ms, total=33.3ms, count=1, min=33.3ms, max=33.3ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  mj_forward_sync: mean=483.0us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/11 00:19:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/11 00:19:29 INFO pipeline.py:1491] Success count: 10, Total count: 10
+[05/11 00:19:29 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
+==========================================
diff --git a/fridge_7/chunk_011/shard_2_of_4.log b/fridge_7/chunk_011/shard_2_of_4.log
index 545ce6338140605d21bb8d43afb431922b41ae1e..9c0692234ef75a763a89919ca672dad908a39c64 100644
--- a/fridge_7/chunk_011/shard_2_of_4.log
+++ b/fridge_7/chunk_011/shard_2_of_4.log
@@ -823,3 +823,1009 @@ DEBUG:h5py._conv:Creating converter from 5 to 3
 [05/10 23:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
 [05/10 23:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 23:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:56:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:56:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:56:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/10 23:56:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:57:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:57:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:57:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.51s (batch: 4.41s, save: 9.09s)
+[05/10 23:57:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=214.63s, total=214.63s, count=1, min=214629.8ms, max=214629.8ms
+  sensor_polling: mean=539.5ms, total=161.86s, count=300, min=442.9ms, max=999.3ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9090.2ms, max=9090.2ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=16.0ms, max=134.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4414.9ms, max=4414.9ms
+  task_sampling: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
+  task_specific_sample: mean=471.3ms, total=471.3ms, count=1, min=471.3ms, max=471.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=468.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:57:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:57:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:57:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 23:57:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:57:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:57:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055161m
+[05/10 23:57:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:57:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:57:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09130323  1.17564193  0.05516061] yaw=-136.2deg
+[05/10 23:57:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:57:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85372511  0.84936624  0.05516061] yaw=-155.6deg
+[05/10 23:57:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:57:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82104226  0.72308723  0.05516061] yaw=-172.8deg
+[05/10 23:57:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:57:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:57:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms
+[05/10 23:57:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.091, 1.176, 0.055)
+[05/10 23:57:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg
+[05/10 23:57:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:57:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 23:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 23:57:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:57:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:57:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 23:57:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True
+[05/10 23:57:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.487[m] 83.940[deg]
+[05/10 23:57:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:57:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:57:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:57:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 23:57:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:57:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:57:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009972m
+[05/10 23:57:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:57:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:57:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05120359  1.10527368  0.00997175] yaw=-134.0deg
+[05/10 23:57:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:57:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85872023  0.43926495  0.00997175] yaw=176.5deg
+[05/10 23:57:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:57:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:57:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms
+[05/10 23:57:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.105, 0.010)
+[05/10 23:57:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg
+[05/10 23:57:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.901m
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:57:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 23:57:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 23:57:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:57:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:57:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 23:57:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.440s, found feasible grasp: True
+[05/10 23:57:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.492[m] 94.902[deg]
+[05/10 23:57:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:58:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:59:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 23:59:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.716s, found feasible grasp: True
+[05/10 23:59:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.781[deg]
+[05/10 23:59:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:59:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:59:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:59:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 23:59:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:59:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:59:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006074m
+[05/10 23:59:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:59:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:59:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:59:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92553085  0.94159055  0.00607405] yaw=-154.5deg
+[05/10 23:59:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:59:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12153301  1.00999694  0.00607405] yaw=-145.3deg
+[05/10 23:59:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:59:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8288638   0.67088163  0.00607405] yaw=-167.4deg
+[05/10 23:59:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:59:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:59:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=414.9ms, total=414.9ms
+[05/10 23:59:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.942, 0.006)
+[05/10 23:59:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg
+[05/10 23:59:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:59:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 23:59:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 23:59:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.119s, found 88 non-colliding grasps
+[05/10 23:59:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.278s, found feasible grasp: True
+[05/10 23:59:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 88.185[deg]
+[05/10 23:59:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:00:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:02:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:03:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/11 00:03:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:03:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:03:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.49s (batch: 4.90s, save: 9.58s)
+[05/11 00:03:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.63s:
+  episode_total: mean=124.75s, total=374.26s, count=3, min=2540.2ms, max=205718.9ms
+  sensor_polling: mean=512.3ms, total=293.04s, count=572, min=435.7ms, max=1056.0ms
+  physics_step: mean=26.1ms, total=14.96s, count=572, min=15.3ms, max=153.0ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9584.4ms, max=9584.4ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4904.9ms, max=4904.9ms
+  task_sampling: mean=542.1ms, total=1.63s, count=3, min=421.1ms, max=685.5ms
+  task_specific_sample: mean=538.6ms, total=1.62s, count=3, min=418.0ms, max=682.4ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=482.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.8us, 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
+[05/11 00:03:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:03:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:03:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/11 00:03:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:03:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:03:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025034m
+[05/11 00:03:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:03:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:03:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:03:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86896707  0.60127442  0.02503383] yaw=-172.3deg
+[05/11 00:03:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:03:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63583555  0.63290091  0.02503383] yaw=-179.0deg
+[05/11 00:03:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:03:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9255671   0.89699646  0.02503383] yaw=-155.4deg
+[05/11 00:03:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:03:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:03:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms
+[05/11 00:03:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.601, 0.025)
+[05/11 00:03:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg
+[05/11 00:03:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.842m
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:03:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/11 00:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/11 00:03:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:03:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:03:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/11 00:03:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.438s, found feasible grasp: True
+[05/11 00:03:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.379[m] 83.965[deg]
+[05/11 00:03:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:04:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:04:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:06:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:06:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:06:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/11 00:06:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/11 00:06:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:06:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:06:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.03s (batch: 4.23s, save: 8.81s)
+[05/11 00:06:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s:
+  episode_total: mean=208.34s, total=208.34s, count=1, min=208335.0ms, max=208335.0ms
+  sensor_polling: mean=523.8ms, total=155.56s, count=297, min=442.7ms, max=1078.8ms
+  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8805.5ms, max=8805.5ms
+  physics_step: mean=25.8ms, total=7.67s, count=297, min=16.3ms, max=89.7ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.4ms, max=4226.4ms
+  task_sampling: mean=462.9ms, total=462.9ms, count=1, min=462.9ms, max=462.9ms
+  task_specific_sample: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=420.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:06:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:06:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:06:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:06:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/11 00:06:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:06:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:06:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090164m
+[05/11 00:06:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:06:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:06:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:06:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09864437  1.07171659  0.09016381] yaw=-134.4deg
+[05/11 00:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64087277  0.75531716  0.09016381] yaw=-166.8deg
+[05/11 00:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63677412  0.4630348   0.09016381] yaw=172.3deg
+[05/11 00:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:06:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:06:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms
+[05/11 00:06:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.099, 1.072, 0.090)
+[05/11 00:06:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.4 deg
+[05/11 00:06:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:06:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:06:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/11 00:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/11 00:06:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:06:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:06:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/11 00:06:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True
+[05/11 00:06:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 85.320[deg]
+[05/11 00:06:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:07:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:07:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:09:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:09:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:09:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:09:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:09:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:09:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/11 00:09:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.790s, found feasible grasp: True
+[05/11 00:09:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.278[deg]
+[05/11 00:09:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:09:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:09:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:09:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:09:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/11 00:09:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:09:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:09:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071570m
+[05/11 00:09:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:09:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:09:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85731504  0.14065876  0.07156992] yaw=157.1deg
+[05/11 00:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80879941  0.02093738  0.07156992] yaw=142.0deg
+[05/11 00:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96438839  1.08735741  0.07156992] yaw=-131.8deg
+[05/11 00:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:09:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:09:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms
+[05/11 00:09:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.141, 0.072)
+[05/11 00:09:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg
+[05/11 00:09:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:09:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:09:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/11 00:09:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/11 00:09:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:09:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:09:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:09:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True
+[05/11 00:09:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.497[m] 97.350[deg]
+[05/11 00:09:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:09:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:09:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:10:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:11:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:11:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:12:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:12:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:12:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:12:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:12:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:12:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:12:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:12:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps
+[05/11 00:12:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.484s, found feasible grasp: True
+[05/11 00:12:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.127[deg]
+[05/11 00:12:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:12:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:12:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:12:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:12:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/11 00:12:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:12:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:12:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032131m
+[05/11 00:12:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:12:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:12:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:12:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88501483  0.22460582  0.03213097] yaw=169.1deg
+[05/11 00:12:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:12:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:12:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91266046  1.05139448  0.03213097] yaw=-139.3deg
+[05/11 00:12:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:12:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92274396  0.9554116   0.03213097] yaw=-137.5deg
+[05/11 00:12:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:12:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:12:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=227.9ms
+[05/11 00:12:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.225, 0.032)
+[05/11 00:12:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg
+[05/11 00:12:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.857m
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:12:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:12:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:12:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/11 00:12:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/11 00:12:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:12:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:12:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/11 00:12:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: True
+[05/11 00:12:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.390[m] 84.064[deg]
+[05/11 00:12:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:12:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:13:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:14:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:14:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:14:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:14:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:14:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
+[05/11 00:14:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.472s, found feasible grasp: True
+[05/11 00:14:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.761[deg]
+[05/11 00:14:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:14:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:14:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:14:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:14:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:14:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:15:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:15:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:15:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:15:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:15:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:15:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/11 00:15:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:15:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:15:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 70 non-colliding grasps
+[05/11 00:15:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.786s, found feasible grasp: True
+[05/11 00:15:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.156[deg]
+[05/11 00:15:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:15:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:16:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:16:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/11 00:16:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:16:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:16:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:16:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.29s (batch: 4.52s, save: 8.77s)
+[05/11 00:16:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.38s:
+  episode_total: mean=186.40s, total=559.20s, count=3, min=147321.1ms, max=247492.3ms
+  sensor_polling: mean=509.8ms, total=417.01s, count=818, min=439.2ms, max=1095.2ms
+  physics_step: mean=24.8ms, total=20.28s, count=818, min=14.1ms, max=94.3ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8771.1ms, max=8771.1ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
+  task_sampling: mean=458.4ms, total=1.38s, count=3, min=400.3ms, max=503.8ms
+  task_specific_sample: mean=454.9ms, total=1.36s, count=3, min=396.6ms, max=500.4ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=428.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/11 00:16:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:16:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:16:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/11 00:16:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:16:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:16:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013286m
+[05/11 00:16:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:16:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:16:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:16:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01383251  1.32286384  0.01328606] yaw=-125.2deg
+[05/11 00:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67374759  0.84359604  0.01328606] yaw=-168.1deg
+[05/11 00:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07590556  1.26099395  0.01328606] yaw=-129.0deg
+[05/11 00:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:16:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:16:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.5ms, total=92.5ms
+[05/11 00:16:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.323, 0.013)
+[05/11 00:16:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg
+[05/11 00:16:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:16:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/11 00:16:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/11 00:16:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:16:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:16:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/11 00:16:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.568s, found feasible grasp: False
+[05/11 00:16:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/11 00:16:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:16:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:16:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/11 00:16:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:16:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:16:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095217m
+[05/11 00:16:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:16:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:16:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07162109  1.24958402  0.09521713] yaw=-127.1deg
+[05/11 00:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79476942  0.17797388  0.09521713] yaw=164.4deg
+[05/11 00:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9157382   0.8270105   0.09521713] yaw=-158.7deg
+[05/11 00:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:16:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:16:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.1ms, total=351.1ms
+[05/11 00:16:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.250, 0.095)
+[05/11 00:16:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg
+[05/11 00:16:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:16:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/11 00:16:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/11 00:16:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:16:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:16:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/11 00:16:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.627s, found feasible grasp: True
+[05/11 00:16:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.591[m] 87.299[deg]
+[05/11 00:16:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:18:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:18:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:18:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:18:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:18:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:18:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/11 00:18:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.666s, found feasible grasp: False
+[05/11 00:18:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/11 00:18:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:18:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:18:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:18:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/11 00:18:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:18:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:18:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089492m
+[05/11 00:18:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:18:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:18:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:18:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:18:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:18:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74443993  0.39961781  0.08949196] yaw=172.7deg
+[05/11 00:18:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:18:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89895806  1.22558512  0.08949196] yaw=-126.2deg
+[05/11 00:18:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:18:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:18:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75884892  0.76753317  0.08949196] yaw=-160.7deg
+[05/11 00:18:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:18:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:18:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.8ms
+[05/11 00:18:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.400, 0.089)
+[05/11 00:18:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg
+[05/11 00:18:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.961m
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:18:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:18:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:18:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/11 00:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/11 00:18:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:18:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:18:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/11 00:18:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True
+[05/11 00:18:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.491[m] 84.906[deg]
+[05/11 00:18:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:19:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:19:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:20:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:20:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:20:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:20:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:20:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:20:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/11 00:20:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.390s, found feasible grasp: True
+[05/11 00:20:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.623[deg]
+[05/11 00:20:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:21:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:21:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:21:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:21:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/11 00:21:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:21:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:21:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:21:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.10s (batch: 4.18s, save: 7.93s)
+[05/11 00:21:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.56s:
+  episode_total: mean=110.36s, total=331.08s, count=3, min=2082.7ms, max=197304.1ms
+  sensor_polling: mean=473.8ms, total=251.11s, count=530, min=433.4ms, max=971.4ms
+  physics_step: mean=22.4ms, total=11.85s, count=530, min=14.1ms, max=62.1ms
+  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7928.1ms, max=7928.1ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.1ms, max=4176.1ms
+  task_sampling: mean=518.4ms, total=1.56s, count=3, min=383.8ms, max=668.5ms
+  task_specific_sample: mean=515.1ms, total=1.55s, count=3, min=379.9ms, max=665.4ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=436.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/11 00:21:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:21:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:21:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:21:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:21:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:21:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:21:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:21:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/11 00:21:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:21:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:21:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054893m
+[05/11 00:21:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:21:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:21:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:21:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:21:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:21:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80740238  0.49292804  0.05489308] yaw=-181.1deg
+[05/11 00:21:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:21:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:21:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74997077  0.8489766   0.05489308] yaw=-156.1deg
+[05/11 00:21:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:21:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05290098  1.23716377  0.05489308] yaw=-133.3deg
+[05/11 00:21:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:21:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:21:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms
+[05/11 00:21:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.493, 0.055)
+[05/11 00:21:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg
+[05/11 00:21:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
+[05/11 00:21:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:21:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:21:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:21:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:21:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:21:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/11 00:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/11 00:21:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:21:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:21:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/11 00:21:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True
+[05/11 00:21:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.694[deg]
+[05/11 00:21:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:22:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:22:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:24:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:25:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:25:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes
+[05/11 00:25:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:25:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:25:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:25:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.34s (batch: 4.06s, save: 9.28s)
+[05/11 00:25:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
+  episode_total: mean=201.22s, total=201.22s, count=1, min=201217.3ms, max=201217.3ms
+  sensor_polling: mean=490.1ms, total=147.03s, count=300, min=431.1ms, max=817.7ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9279.8ms, max=9279.8ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=18.2ms, max=63.0ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.8ms, max=4060.8ms
+  task_sampling: mean=489.7ms, total=489.7ms, count=1, min=489.7ms, max=489.7ms
+  task_specific_sample: mean=485.7ms, total=485.7ms, count=1, min=485.7ms, max=485.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=436.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:25:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:25:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:25:17 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
+[05/11 00:25:17 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5856.09s
+  House averages:
+  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
+  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
+  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
+  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
+  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
+  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
+  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
+  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
+  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
+  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
+  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
+  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/11 00:25:17 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/11 00:25:17 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5856.09s
+  Worker averages:
+  episode_total: mean=177.81s, total=3200.63s, count=18, min=2082.7ms, max=247492.3ms
+  sensor_polling: mean=511.8ms, total=2343.04s, count=4578, min=431.1ms, max=1200.2ms
+  physics_step: mean=25.2ms, total=115.56s, count=4578, min=13.4ms, max=153.0ms
+  save_trajectories: mean=9.53s, total=114.31s, count=12, min=7928.1ms, max=12005.6ms
+  save_batch_prep: mean=4.56s, total=54.72s, count=12, min=4060.8ms, max=5055.7ms
+  task_sampling: mean=668.6ms, total=12.03s, count=18, min=383.8ms, max=3442.1ms
+  task_specific_sample: mean=500.3ms, total=9.01s, count=18, min=379.9ms, max=682.4ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2961.0ms, max=2961.0ms
+  scene_env_create: mean=2.11s, total=2.11s, count=1, min=2108.6ms, max=2108.6ms
+  scene_compile: mean=735.5ms, total=735.5ms, count=1, min=735.5ms, max=735.5ms
+  compile_mujoco: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_init: mean=68.8ms, total=68.8ms, count=1, min=68.8ms, max=68.8ms
+  scene_asset_install: mean=47.8ms, total=47.8ms, count=1, min=47.8ms, max=47.8ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.2ms, max=3.7ms
+  asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  mj_forward_sync: mean=465.9us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/11 00:25:20 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/11 00:25:20 INFO pipeline.py:1491] Success count: 12, Total count: 12
+[05/11 00:25:20 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
+==========================================
diff --git a/fridge_7/chunk_011/shard_3_of_4.log b/fridge_7/chunk_011/shard_3_of_4.log
index 6c39821fef1e8f6e30b2301c8ad49854619683f9..daa928c2ae78a9c6087b3af8b26df2ea9ff65217 100644
--- a/fridge_7/chunk_011/shard_3_of_4.log
+++ b/fridge_7/chunk_011/shard_3_of_4.log
@@ -1084,3 +1084,596 @@ ValueError: IK failed for pregrasp pose
 [05/10 23:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
 [05/10 23:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
 [05/10 23:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:57:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:57:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/10 23:57:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:57:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:57:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:57:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.44s (batch: 4.11s, save: 8.33s)
+[05/10 23:57:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.63s:
+  episode_total: mean=208.63s, total=208.63s, count=1, min=208626.0ms, max=208626.0ms
+  sensor_polling: mean=535.4ms, total=160.62s, count=300, min=444.3ms, max=902.1ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.4ms, max=8327.4ms
+  physics_step: mean=26.2ms, total=7.86s, count=300, min=15.5ms, max=85.1ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.9ms, max=4109.9ms
+  task_sampling: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms
+  task_specific_sample: mean=629.6ms, total=629.6ms, count=1, min=629.6ms, max=629.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=414.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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
+[05/10 23:57:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:57:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:57:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:57:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 23:57:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:57:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:57:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067611m
+[05/10 23:57:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:57:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:57:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94219757  0.27806194  0.06761106] yaw=163.9deg
+[05/10 23:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75801984  0.90056949  0.06761106] yaw=-164.5deg
+[05/10 23:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70948634  0.89620694  0.06761106] yaw=-157.5deg
+[05/10 23:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:57:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:57:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.4ms
+[05/10 23:57:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.278, 0.068)
+[05/10 23:57:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg
+[05/10 23:57:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
+[05/10 23:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:57:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 23:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 23:57:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:57:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:57:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 23:57:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True
+[05/10 23:57:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.347[m] 86.524[deg]
+[05/10 23:57:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:58:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:58:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:59:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:59:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:59:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:59:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 80 non-colliding grasps
+[05/10 23:59:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.106s, found feasible grasp: True
+[05/10 23:59:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.216[deg]
+[05/10 23:59:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 23:59:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:59:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:59:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 23:59:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:59:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:59:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074021m
+[05/10 23:59:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:59:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:59:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71771047  0.2412294   0.07402057] yaw=165.9deg
+[05/10 23:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79801228  0.88609307  0.07402057] yaw=-158.8deg
+[05/10 23:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90447118  0.59809941  0.07402057] yaw=-182.3deg
+[05/10 23:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:59:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:59:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.3ms
+[05/10 23:59:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.241, 0.074)
+[05/10 23:59:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg
+[05/10 23:59:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:59:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:59:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 23:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
+[05/10 23:59:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.143s, found 88 non-colliding grasps
+[05/10 23:59:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.236s, found feasible grasp: True
+[05/10 23:59:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.586[m] 97.310[deg]
+[05/10 23:59:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:59:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:59:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:00:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:02:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:02:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:02:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/11 00:02:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:03:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:03:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.37s (batch: 4.37s, save: 9.00s)
+[05/11 00:03:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.90s:
+  episode_total: mean=164.87s, total=329.73s, count=2, min=112765.7ms, max=216965.6ms
+  sensor_polling: mean=524.1ms, total=244.76s, count=467, min=438.7ms, max=934.2ms
+  physics_step: mean=25.9ms, total=12.07s, count=467, min=16.2ms, max=132.6ms
+  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9001.2ms, max=9001.2ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
+  task_sampling: mean=448.2ms, total=896.4ms, count=2, min=440.6ms, max=455.8ms
+  task_specific_sample: mean=442.0ms, total=884.0ms, count=2, min=432.5ms, max=451.5ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms
+  mj_forward_sync: mean=527.1us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/11 00:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)
+[05/11 00:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086124m
+[05/11 00:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88626437  0.87951487  0.08612394] yaw=-148.1deg
+[05/11 00:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69891733  0.22386451  0.08612394] yaw=172.1deg
+[05/11 00:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=465.5ms, total=465.6ms
+[05/11 00:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.880, 0.086)
+[05/11 00:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg
+[05/11 00:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.908m
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:03:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/11 00:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
+[05/11 00:03:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:03:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:03:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/11 00:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True
+[05/11 00:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.473[m] 90.178[deg]
+[05/11 00:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:06:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:06:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:06:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/11 00:06:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:06:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:06:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:06:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 14.15s (batch: 4.95s, save: 9.20s)
+[05/11 00:06:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.78s:
+  episode_total: mean=211.89s, total=211.89s, count=1, min=211893.8ms, max=211893.8ms
+  sensor_polling: mean=535.6ms, total=160.68s, count=300, min=427.1ms, max=1098.6ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
+  physics_step: mean=26.0ms, total=7.81s, count=300, min=17.8ms, max=88.6ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4951.5ms, max=4951.5ms
+  task_sampling: mean=778.6ms, total=778.6ms, count=1, min=778.6ms, max=778.6ms
+  task_specific_sample: mean=774.2ms, total=774.2ms, count=1, min=774.2ms, max=774.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=546.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:06:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:06:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:06:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:06:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:06:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:06:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:06:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:06:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/11 00:06:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:06:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:06:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069429m
+[05/11 00:06:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:06:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:06:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:06:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:06:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:06:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64940391  0.46078237  0.06942928] yaw=180.5deg
+[05/11 00:06:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:06:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:06:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:06:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69885296  0.14089567  0.06942928] yaw=167.8deg
+[05/11 00:06:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:06:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74265389  0.84038795  0.06942928] yaw=-152.7deg
+[05/11 00:06:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:06:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:06:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms
+[05/11 00:06:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.461, 0.069)
+[05/11 00:06:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg
+[05/11 00:06:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
+[05/11 00:06:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:06:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:06:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:06:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:06:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:06:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/11 00:06:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/11 00:06:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:06:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:06:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/11 00:06:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True
+[05/11 00:06:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.628[m] 91.473[deg]
+[05/11 00:06:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:06:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:06:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:07:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:09:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:09:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:09:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/11 00:09:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:10:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:10:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:10:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.07s (batch: 4.31s, save: 8.77s)
+[05/11 00:10:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.64s:
+  episode_total: mean=209.61s, total=209.61s, count=1, min=209608.9ms, max=209608.9ms
+  sensor_polling: mean=529.5ms, total=158.84s, count=300, min=444.4ms, max=925.0ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8766.2ms, max=8766.2ms
+  physics_step: mean=26.7ms, total=8.00s, count=300, min=16.3ms, max=86.9ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4308.2ms, max=4308.2ms
+  task_sampling: mean=637.4ms, total=637.4ms, count=1, min=637.4ms, max=637.4ms
+  task_specific_sample: mean=633.3ms, total=633.3ms, count=1, min=633.3ms, max=633.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:10:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:10:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:10:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:10:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
+[05/11 00:10:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:10:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:10:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057305m
+[05/11 00:10:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:10:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:10:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:10:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85454749  0.78435141  0.05730464] yaw=-165.7deg
+[05/11 00:10:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:10:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63991555  0.31565095  0.05730464] yaw=168.4deg
+[05/11 00:10:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:10:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73269485  0.88432563  0.05730464] yaw=-148.2deg
+[05/11 00:10:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:10:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:10:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.2ms
+[05/11 00:10:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.784, 0.057)
+[05/11 00:10:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg
+[05/11 00:10:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:10:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:10:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:10:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/11 00:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/11 00:10:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:10:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:10:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/11 00:10:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True
+[05/11 00:10:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.486[m] 91.522[deg]
+[05/11 00:10:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:12:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:13:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:13:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/11 00:13:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:13:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:13:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:13:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.83s (batch: 4.41s, save: 8.42s)
+[05/11 00:13:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
+  episode_total: mean=199.13s, total=199.13s, count=1, min=199126.7ms, max=199126.7ms
+  sensor_polling: mean=511.4ms, total=153.42s, count=300, min=449.0ms, max=887.9ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8419.9ms, max=8419.9ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=16.0ms, max=51.5ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.9ms, max=4413.9ms
+  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  task_specific_sample: mean=477.6ms, total=477.6ms, count=1, min=477.6ms, max=477.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=462.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:13:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:13:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:13:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:13:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
+[05/11 00:13:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:13:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:13:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004134m
+[05/11 00:13:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:13:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:13:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:13:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:13:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62842221  0.5066583   0.00413355] yaw=-171.5deg
+[05/11 00:13:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:13:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94229332  0.92176437  0.00413355] yaw=-146.5deg
+[05/11 00:13:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:13:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78415427  0.01158756  0.00413355] yaw=144.1deg
+[05/11 00:13:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:13:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:13:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.2ms, total=127.2ms
+[05/11 00:13:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.507, 0.004)
+[05/11 00:13:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg
+[05/11 00:13:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:13:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:13:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/11 00:13:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/11 00:13:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:13:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:13:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/11 00:13:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True
+[05/11 00:13:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.627[m] 84.501[deg]
+[05/11 00:13:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:13:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:13:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:16:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:16:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:16:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/11 00:16:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:16:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:16:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:16:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.37s (batch: 4.22s, save: 8.15s)
+[05/11 00:16:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=189.59s, total=189.59s, count=1, min=189588.5ms, max=189588.5ms
+  sensor_polling: mean=483.2ms, total=144.97s, count=300, min=448.9ms, max=816.6ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8150.9ms, max=8150.9ms
+  physics_step: mean=21.8ms, total=6.55s, count=300, min=18.4ms, max=35.6ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4215.3ms, max=4215.3ms
+  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
+  task_specific_sample: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:16:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:16:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:16:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/11 00:16:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:16:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:16:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031804m
+[05/11 00:16:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:16:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:16:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:16:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64433095  0.60474055  0.03180382] yaw=-178.1deg
+[05/11 00:16:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:16:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89454969  0.78861653  0.03180382] yaw=-162.3deg
+[05/11 00:16:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:16:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:16:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76236143  0.55153264  0.03180382] yaw=-175.7deg
+[05/11 00:16:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:16:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:16:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.1ms
+[05/11 00:16:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.644, 0.605, 0.032)
+[05/11 00:16:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg
+[05/11 00:16:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:16:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:16:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:16:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/11 00:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/11 00:16:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:16:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:16:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/11 00:16:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.782s, found feasible grasp: True
+[05/11 00:16:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.640[m] 93.514[deg]
+[05/11 00:16:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:16:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:16:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:17:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:19:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:19:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:19:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes
+[05/11 00:19:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:19:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:19:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:19:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.21s (batch: 4.12s, save: 8.09s)
+[05/11 00:19:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=189.43s, total=189.43s, count=1, min=189430.5ms, max=189430.5ms
+  sensor_polling: mean=483.8ms, total=145.14s, count=300, min=445.4ms, max=743.5ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8091.4ms, max=8091.4ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.8ms, max=37.5ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.8ms, max=4120.8ms
+  task_sampling: mean=428.2ms, total=428.2ms, count=1, min=428.2ms, max=428.2ms
+  task_specific_sample: mean=424.6ms, total=424.6ms, count=1, min=424.6ms, max=424.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=443.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:19:57 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:19:57 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:19:57 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
+[05/11 00:19:57 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5349.33s
+  House averages:
+  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
+  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
+  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
+  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
+  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
+  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
+  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
+  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
+  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
+  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/11 00:19:57 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/11 00:19:57 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5349.33s
+  Worker averages:
+  episode_total: mean=160.07s, total=2881.18s, count=18, min=2319.5ms, max=240316.5ms
+  sensor_polling: mean=522.4ms, total=2187.16s, count=4187, min=427.1ms, max=1166.6ms
+  physics_step: mean=26.0ms, total=108.99s, count=4187, min=15.5ms, max=132.6ms
+  save_trajectories: mean=8.74s, total=96.17s, count=11, min=8029.7ms, max=10779.4ms
+  save_batch_prep: mean=4.29s, total=47.17s, count=11, min=3994.8ms, max=4951.5ms
+  task_sampling: mean=677.2ms, total=12.19s, count=18, min=367.7ms, max=3717.8ms
+  task_specific_sample: mean=500.7ms, total=9.01s, count=18, min=364.5ms, max=774.2ms
+  scene_load: mean=3.11s, total=3.11s, count=1, min=3106.8ms, max=3106.8ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1865.8ms, max=1865.8ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1109.2ms, max=1109.2ms
+  compile_mujoco: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms
+  compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_init: mean=74.5ms, total=74.5ms, count=1, min=74.5ms, max=74.5ms
+  scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.2ms, max=2.9ms
+  compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=464.5us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/11 00:20:00 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/11 00:20:00 INFO pipeline.py:1491] Success count: 11, Total count: 11
+[05/11 00:20:00 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
+==========================================
diff --git a/fridge_7/chunk_011/shard_4_of_4.log b/fridge_7/chunk_011/shard_4_of_4.log
index ef765f44e02d45fbf0dc4d502d0cc935073a9ce9..107eebfb3b4d5c773c88a2199178f17e6714e2a7 100644
--- a/fridge_7/chunk_011/shard_4_of_4.log
+++ b/fridge_7/chunk_011/shard_4_of_4.log
@@ -783,3 +783,1043 @@ DEBUG:h5py._conv:Creating converter from 5 to 3
 [05/10 23:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
 [05/10 23:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
 [05/10 23:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:56:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 23:56:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:56:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/10 23:56:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 23:57:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 23:57:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/10 23:57:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.96s (batch: 4.30s, save: 9.66s)
+[05/10 23:57:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.66s:
+  episode_total: mean=235.44s, total=235.44s, count=1, min=235438.0ms, max=235438.0ms
+  sensor_polling: mean=539.5ms, total=161.84s, count=300, min=455.0ms, max=819.4ms
+  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9656.8ms, max=9656.8ms
+  physics_step: mean=29.3ms, total=8.78s, count=300, min=15.6ms, max=111.6ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.7ms, max=4301.7ms
+  task_sampling: mean=659.5ms, total=659.5ms, count=1, min=659.5ms, max=659.5ms
+  task_specific_sample: mean=652.0ms, total=652.0ms, count=1, min=652.0ms, max=652.0ms
+  mj_forward_sync: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 23:57:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 23:57:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 23:57:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 23:57:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 23:57:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 23:57:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016471m
+[05/10 23:57:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 23:57:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 23:57:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 23:57:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11780285  1.02281016  0.01647071] yaw=-132.2deg
+[05/10 23:57:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 23:57:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7317327   0.56566006  0.01647071] yaw=-169.9deg
+[05/10 23:57:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 23:57:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 23:57:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78838388  0.59263425  0.01647071] yaw=-176.8deg
+[05/10 23:57:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 23:57:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 23:57:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms
+[05/10 23:57:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.118, 1.023, 0.016)
+[05/10 23:57:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.2 deg
+[05/10 23:57:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 23:57:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 23:57:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 23:57:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 23:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 23:57:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:57:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:57:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 23:57:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
+[05/10 23:57:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.346[m] 93.607[deg]
+[05/10 23:57:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 23:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 23:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 23:57:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 23:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 23:58:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 23:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 23:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 23:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 23:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 23:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 23:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 23:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 23:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 23:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 23:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 23:59:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 23:59:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 23:59:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps
+[05/11 00:00:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.791s, found feasible grasp: True
+[05/11 00:00:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]
+[05/11 00:00:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:00:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:00:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:00:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:00:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/11 00:00:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:00:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:00:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040598m
+[05/11 00:00:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:00:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:00:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:00:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:00:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92689439  0.95820455  0.04059786] yaw=-153.3deg
+[05/11 00:00:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:00:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62598674  0.54061215  0.04059786] yaw=-176.8deg
+[05/11 00:00:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:00:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75258244  0.01379325  0.04059786] yaw=154.3deg
+[05/11 00:00:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:00:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:00:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.6ms
+[05/11 00:00:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.958, 0.041)
+[05/11 00:00:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg
+[05/11 00:00:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:00:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:00:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:00:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/11 00:00:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/11 00:00:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:00:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:00:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/11 00:00:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True
+[05/11 00:00:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.461[m] 79.375[deg]
+[05/11 00:00:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:00:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:00:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:01:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:02:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:03:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:03:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:03:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:03:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:03:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.74s (batch: 4.59s, save: 9.16s)
+[05/11 00:03:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
+  episode_total: mean=185.81s, total=371.63s, count=2, min=168378.6ms, max=203251.2ms
+  sensor_polling: mean=514.3ms, total=293.15s, count=570, min=437.8ms, max=886.1ms
+  physics_step: mean=24.7ms, total=14.10s, count=570, min=16.6ms, max=82.7ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9156.0ms, max=9156.0ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.8ms, max=4586.8ms
+  task_sampling: mean=452.3ms, total=904.5ms, count=2, min=442.8ms, max=461.7ms
+  task_specific_sample: mean=448.6ms, total=897.2ms, count=2, min=439.3ms, max=457.9ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=441.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/11 00:03:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:03:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:03:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/11 00:03:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:03:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:03:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015991m
+[05/11 00:03:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:03:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:03:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:03:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84112973  0.55690103  0.01599141] yaw=-173.3deg
+[05/11 00:03:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:03:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99002919  0.85209355  0.01599141] yaw=-152.6deg
+[05/11 00:03:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:03:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:03:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms
+[05/11 00:03:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.557, 0.016)
+[05/11 00:03:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg
+[05/11 00:03:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.864m
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:03:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:03:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:03:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/11 00:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/11 00:03:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:03:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:03:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/11 00:03:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
+[05/11 00:03:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 78.194[deg]
+[05/11 00:03:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:04:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:06:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:06:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:06:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:06:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:06:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:06:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:06:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.23s, save: 8.73s)
+[05/11 00:07:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=210.61s, total=210.61s, count=1, min=210608.5ms, max=210608.5ms
+  sensor_polling: mean=533.2ms, total=159.95s, count=300, min=447.6ms, max=1055.4ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8731.7ms, max=8731.7ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.5ms, max=93.8ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4227.4ms, max=4227.4ms
+  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
+  task_specific_sample: mean=507.8ms, total=507.8ms, count=1, min=507.8ms, max=507.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=446.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:07:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:07:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:07:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:07:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:07:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:07:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:07:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:07:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
+[05/11 00:07:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:07:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:07:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035790m
+[05/11 00:07:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:07:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:07:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:07:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92867197  0.57157867  0.0357905 ] yaw=-183.6deg
+[05/11 00:07:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:07:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:07:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:07:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06516373  1.07079765  0.0357905 ] yaw=-138.6deg
+[05/11 00:07:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:07:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:07:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91607437  0.11327503  0.0357905 ] yaw=144.2deg
+[05/11 00:07:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:07:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:07:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms
+[05/11 00:07:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.572, 0.036)
+[05/11 00:07:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.6 deg
+[05/11 00:07:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
+[05/11 00:07:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:07:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:07:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:07:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:07:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:07:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/11 00:07:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/11 00:07:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:07:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:07:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/11 00:07:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
+[05/11 00:07:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.292[m] 82.256[deg]
+[05/11 00:07:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:07:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:07:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:09:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:10:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:10:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:10:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 279 timesteps
+[05/11 00:10:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:10:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:10:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.68s (batch: 4.32s, save: 8.36s)
+[05/11 00:10:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.55s:
+  episode_total: mean=203.42s, total=203.42s, count=1, min=203419.8ms, max=203419.8ms
+  sensor_polling: mean=549.8ms, total=152.83s, count=278, min=456.0ms, max=1028.4ms
+  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8361.5ms, max=8361.5ms
+  physics_step: mean=29.0ms, total=8.06s, count=278, min=19.1ms, max=118.3ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.4ms, max=4323.4ms
+  task_sampling: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms
+  task_specific_sample: mean=549.4ms, total=549.4ms, count=1, min=549.4ms, max=549.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=406.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:10:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:10:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:10:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:10:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
+[05/11 00:10:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:10:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:10:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018697m
+[05/11 00:10:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:10:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:10:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:10:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:10:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89170485  0.40465601  0.01869745] yaw=168.3deg
+[05/11 00:10:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:10:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65008164  0.68341024  0.01869745] yaw=-175.8deg
+[05/11 00:10:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:10:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00693277  0.8157816   0.01869745] yaw=-151.0deg
+[05/11 00:10:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:10:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:10:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.2ms
+[05/11 00:10:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.405, 0.019)
+[05/11 00:10:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg
+[05/11 00:10:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:10:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:10:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/11 00:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
+[05/11 00:10:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.420[m] 102.240[deg]
+[05/11 00:10:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:11:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:11:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:13:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:13:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:13:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:13:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:13:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:13:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:13:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 13.24s (batch: 4.49s, save: 8.74s)
+[05/11 00:13:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
+  episode_total: mean=198.41s, total=198.41s, count=1, min=198409.6ms, max=198409.6ms
+  sensor_polling: mean=502.9ms, total=150.87s, count=300, min=446.8ms, max=794.1ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8743.1ms, max=8743.1ms
+  physics_step: mean=25.8ms, total=7.75s, count=300, min=16.0ms, max=53.0ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.8ms, max=4494.8ms
+  task_sampling: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
+  task_specific_sample: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=441.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:13:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:13:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:13:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:13:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:13:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:13:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:13:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:13:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/11 00:13:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:13:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:13:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060902m
+[05/11 00:13:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:13:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:13:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:13:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:13:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:13:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:13:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:13:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82941981  0.00857258  0.06090218] yaw=142.2deg
+[05/11 00:13:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:13:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10926748  1.06259711  0.06090218] yaw=-137.5deg
+[05/11 00:13:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:13:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9947586   0.98309959  0.06090218] yaw=-142.4deg
+[05/11 00:13:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:13:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:13:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.5ms
+[05/11 00:13:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.009, 0.061)
+[05/11 00:13:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 142.2 deg
+[05/11 00:13:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
+[05/11 00:13:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:13:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:13:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:13:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:13:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/11 00:13:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/11 00:13:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:13:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:13:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/11 00:13:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.677s, found feasible grasp: True
+[05/11 00:13:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.582[m] 95.125[deg]
+[05/11 00:13:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:13:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:13:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:16:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:16:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:16:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:16:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:17:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:17:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:17:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.96s (batch: 4.37s, save: 8.58s)
+[05/11 00:17:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
+  episode_total: mean=194.50s, total=194.50s, count=1, min=194503.0ms, max=194503.0ms
+  sensor_polling: mean=493.0ms, total=147.89s, count=300, min=460.2ms, max=878.0ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8584.2ms, max=8584.2ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.5ms, max=67.4ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.6ms, max=4374.6ms
+  task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms
+  task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=424.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:17:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:17:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:17:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:17:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/11 00:17:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:17:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:17:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032433m
+[05/11 00:17:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:17:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:17:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:17:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:17:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:17:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93064137  0.081307    0.03243307] yaw=156.0deg
+[05/11 00:17:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:17:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:17:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97881197  1.15593387  0.03243307] yaw=-146.9deg
+[05/11 00:17:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:17:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81505736  0.39898725  0.03243307] yaw=172.5deg
+[05/11 00:17:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:17:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:17:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms
+[05/11 00:17:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.081, 0.032)
+[05/11 00:17:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg
+[05/11 00:17:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.870m
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:17:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:17:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:17:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/11 00:17:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/11 00:17:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:17:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:17:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/11 00:17:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True
+[05/11 00:17:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.410[m] 88.452[deg]
+[05/11 00:17:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:17:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:17:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:18:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:19:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:19:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:19:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:19:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:19:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/11 00:19:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True
+[05/11 00:19:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.266[deg]
+[05/11 00:19:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:19:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:19:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:19:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/11 00:19:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:19:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:19:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/11 00:19:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.414s, found feasible grasp: True
+[05/11 00:19:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]
+[05/11 00:19:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:19:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:19:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/11 00:19:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:19:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:19:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/11 00:19:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.393s, found feasible grasp: True
+[05/11 00:19:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.243[deg]
+[05/11 00:19:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:19:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:19:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:19:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:19:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:19:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/11 00:19:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:20:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:20:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:20:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 244 timesteps
+[05/11 00:20:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:20:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:20:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 9.84s (batch: 3.62s, save: 6.22s)
+[05/11 00:20:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
+  episode_total: mean=195.32s, total=195.32s, count=1, min=195317.0ms, max=195317.0ms
+  sensor_polling: mean=503.3ms, total=122.29s, count=243, min=447.8ms, max=818.2ms
+  save_trajectories: mean=6.22s, total=6.22s, count=1, min=6222.5ms, max=6222.5ms
+  physics_step: mean=23.1ms, total=5.60s, count=243, min=12.6ms, max=36.4ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.9ms, max=3620.9ms
+  task_sampling: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms
+  task_specific_sample: mean=522.7ms, total=522.7ms, count=1, min=522.7ms, max=522.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:20:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:20:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:20:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:20:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/11 00:20:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:20:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:20:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043930m
+[05/11 00:20:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:20:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:20:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:20:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91663066  0.44829891  0.04393008] yaw=176.0deg
+[05/11 00:20:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:20:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:20:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:20:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92782478  0.40941618  0.04393008] yaw=174.1deg
+[05/11 00:20:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:20:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76777478  0.43333956  0.04393008] yaw=184.3deg
+[05/11 00:20:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:20:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:20:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms
+[05/11 00:20:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.917, 0.448, 0.044)
+[05/11 00:20:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
+[05/11 00:20:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:20:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:20:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:20:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/11 00:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/11 00:20:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:20:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:20:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:20:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.465s, found feasible grasp: True
+[05/11 00:20:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 90.816[deg]
+[05/11 00:20:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:20:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:21:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:21:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:21:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:21:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
+[05/11 00:21:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.646s, found feasible grasp: True
+[05/11 00:21:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.539[deg]
+[05/11 00:21:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:22:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:22:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:22:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:22:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:22:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/11 00:23:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:23:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:23:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
+[05/11 00:23:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 5.001s, found feasible grasp: True
+[05/11 00:23:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.220[m] 2.574[deg]
+[05/11 00:23:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:23:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:23:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:23:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:23:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:23:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/11 00:23:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:23:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:23:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005371m
+[05/11 00:23:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:23:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:23:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:23:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.128627    1.02231112  0.00537099] yaw=-134.7deg
+[05/11 00:23:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:23:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:23:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82425605  0.46446219  0.00537099] yaw=178.3deg
+[05/11 00:23:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:23:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:23:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:23:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97660783  0.84707616  0.00537099] yaw=-151.1deg
+[05/11 00:23:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:23:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:23:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms
+[05/11 00:23:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.129, 1.022, 0.005)
+[05/11 00:23:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg
+[05/11 00:23:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
+[05/11 00:23:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:23:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:23:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:23:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:23:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:23:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/11 00:23:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
+[05/11 00:23:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:23:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:23:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/11 00:23:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True
+[05/11 00:23:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.395[m] 98.149[deg]
+[05/11 00:23:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:25:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:25:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:25:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:25:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:25:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:25:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
+[05/11 00:25:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.361s, found feasible grasp: True
+[05/11 00:25:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.313[deg]
+[05/11 00:25:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:25:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:25:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:25:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:25:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/11 00:25:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:25:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:25:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037244m
+[05/11 00:25:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:25:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:25:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:25:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:25:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78373324  0.23722014  0.03724358] yaw=156.3deg
+[05/11 00:25:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:25:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75729493  0.1657867   0.03724358] yaw=171.4deg
+[05/11 00:25:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:25:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69211738  0.3782578   0.03724358] yaw=170.4deg
+[05/11 00:25:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:25:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:25:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.7ms
+[05/11 00:25:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.237, 0.037)
+[05/11 00:25:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg
+[05/11 00:25:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:25:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:25:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:25:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/11 00:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/11 00:25:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:25:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:25:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/11 00:25:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True
+[05/11 00:25:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.491[m] 83.767[deg]
+[05/11 00:25:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:28:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:28:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:28:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:28:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:28:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:28:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:28:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
+[05/11 00:28:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True
+[05/11 00:28:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.199[deg]
+[05/11 00:28:22 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:28:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:28:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:28:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:28:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/11 00:28:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:28:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:28:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040236m
+[05/11 00:28:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:28:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:28:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:28:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:28:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:28:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05873521  0.95409354  0.04023558] yaw=-141.0deg
+[05/11 00:28:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:28:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79465555  0.69790454  0.04023558] yaw=-165.6deg
+[05/11 00:28:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:28:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:28:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08199218  0.92350861  0.04023558] yaw=-145.1deg
+[05/11 00:28:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:28:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:28:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.2ms, total=106.2ms
+[05/11 00:28:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.059, 0.954, 0.040)
+[05/11 00:28:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg
+[05/11 00:28:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.798m
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:28:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:28:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:28:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/11 00:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/11 00:28:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:28:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:28:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/11 00:28:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.645s, found feasible grasp: True
+[05/11 00:28:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.340[m] 80.802[deg]
+[05/11 00:28:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:28:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:28:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:29:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:29:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:30:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:31:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:31:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes
+[05/11 00:31:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
+[05/11 00:31:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:31:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_011
+[05/11 00:31:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_011 in 12.03s (batch: 3.79s, save: 8.24s)
+[05/11 00:31:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.96s:
+  episode_total: mean=164.43s, total=657.73s, count=4, min=153836.6ms, max=179299.6ms
+  sensor_polling: mean=468.8ms, total=526.01s, count=1122, min=406.6ms, max=1062.9ms
+  physics_step: mean=21.7ms, total=24.30s, count=1122, min=13.3ms, max=73.6ms
+  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8241.0ms, max=8241.0ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.4ms, max=3791.4ms
+  task_sampling: mean=491.0ms, total=1.96s, count=4, min=348.0ms, max=629.2ms
+  task_specific_sample: mean=487.2ms, total=1.95s, count=4, min=344.8ms, max=624.8ms
+  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=469.7us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/11 00:31:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:31:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_011
+[05/11 00:31:24 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
+[05/11 00:31:24 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6562.01s
+  House averages:
+  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
+  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
+  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
+  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
+  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
+  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
+  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
+  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
+  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
+  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
+  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
+  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  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
+[05/11 00:31:24 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/11 00:31:24 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6562.01s
+  Worker averages:
+  episode_total: mean=198.24s, total=3568.28s, count=18, min=153836.6ms, max=235740.7ms
+  sensor_polling: mean=510.0ms, total=2651.12s, count=5198, min=406.6ms, max=1062.9ms
+  physics_step: mean=24.8ms, total=129.06s, count=5198, min=12.6ms, max=143.4ms
+  save_trajectories: mean=8.85s, total=123.92s, count=14, min=6222.5ms, max=9676.3ms
+  save_batch_prep: mean=4.36s, total=61.05s, count=14, min=3620.9ms, max=4834.6ms
+  task_sampling: mean=690.5ms, total=12.43s, count=18, min=348.0ms, max=3624.2ms
+  task_specific_sample: mean=530.5ms, total=9.55s, count=18, min=344.8ms, max=814.3ms
+  scene_load: mean=2.81s, total=2.81s, count=1, min=2807.0ms, max=2807.0ms
+  scene_env_create: mean=1.83s, total=1.83s, count=1, min=1831.4ms, max=1831.4ms
+  scene_compile: mean=858.6ms, total=858.6ms, count=1, min=858.6ms, max=858.6ms
+  compile_mujoco: mean=636.7ms, total=636.7ms, count=1, min=636.7ms, max=636.7ms
+  compile_xml_load: mean=148.2ms, total=148.2ms, count=1, min=148.2ms, max=148.2ms
+  scene_init: mean=75.7ms, total=75.7ms, count=1, min=75.7ms, max=75.7ms
+  compile_aux_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  compile_aux_policy_objects: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms
+  scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  mj_forward_sync: mean=646.3us, total=11.6ms, count=18, min=0.4ms, max=3.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  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
+[05/11 00:31:27 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/11 00:31:27 INFO pipeline.py:1491] Success count: 14, Total count: 14
+[05/11 00:31:27 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_011
+==========================================
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+05/11 00:31:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 00:31:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 00:31:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 00:31:53 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x710346a62690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 00:31:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 00:31:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 00:31:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 00:31:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 00:31:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 00:31:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 00:31:54 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x7f11fb08b950>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21203,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 00:31:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 00:31:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 00:31:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 00:31:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 00:31:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 00:31:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 00:31:54 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x79e3f2140710>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21204,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 00:31:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 00:31:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 00:31:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 00:31:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 00:31:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 00:31:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 00:31:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 00:31:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 00:31:54 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x73413ffe8c90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21201,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 00:31:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 00:31:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 00:31:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 00:31:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 00:31:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 00:31:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 00:31:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 00:31:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 00:31:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 00:31:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:31:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:31:57 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]
+05/11 00:31:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:31:57 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]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072457m	[env.py: 870]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:31:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79703873  0.4237756   0.07245704] yaw=172.4deg	[env.py: 1019]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02872824  1.22802633  0.07245704] yaw=-128.5deg	[env.py: 1019]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63134984  0.54529931  0.07245704] yaw=-165.9deg	[env.py: 1019]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:31:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.2ms, retries=118.3ms, total=130.4ms	[env.py: 1075]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.424, 0.072)	[env.py: 1079]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
+05/11 00:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 00:31:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 00:31:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 00:31:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 00:31:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 00:31:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 00:31:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031160m	[env.py: 870]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:31:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 00:31:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 00:31:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 00:31:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073737m	[env.py: 870]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:31:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 00:31:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 00:31:58 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09490439  1.07504864  0.0311603 ] yaw=-136.0deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:31:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:31:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00394469  0.98809626  0.0311603 ] yaw=-132.8deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88382103  0.75091782  0.0311603 ] yaw=-157.6deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:31:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.0ms, retries=266.7ms, total=278.7ms	[env.py: 1075]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.075, 0.031)	[env.py: 1079]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/11 00:31:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069104m	[env.py: 870]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:31:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76412524  0.95428965  0.07373731] yaw=-164.3deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74877214  0.51798261  0.06910422] yaw=-177.7deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97319632  1.19036629  0.07373731] yaw=-133.1deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=23.7ms, retries=618.9ms, total=642.5ms	[env.py: 1075]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.954, 0.074)	[env.py: 1079]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg	[env.py: 1082]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:31:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73395878  0.77280032  0.06910422] yaw=-156.1deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77301674  0.72398382  0.06910422] yaw=-160.5deg	[env.py: 1019]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=44.2ms, retries=502.9ms, total=547.1ms	[env.py: 1075]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.518, 0.069)	[env.py: 1079]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg	[env.py: 1082]
+05/11 00:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:31:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:31:59 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 31.943s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:32:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:32:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.436[m] 83.949[deg]	[grasp_sample.py: 539]
+05/11 00:32:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:32:31 INFO: [Worker 0] Warmed up parallel IK solver in 32.338s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:32:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:32:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:32:31 INFO: [Worker 0] Warmed up parallel IK solver in 32.232s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:32:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:32:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:32:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.769s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:32:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 95.568[deg]	[grasp_sample.py: 539]
+05/11 00:32:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 33.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:32:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:32:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:32:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:32:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.987[deg]	[grasp_sample.py: 539]
+05/11 00:32:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:32:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.956s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:32:42 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.609[m] 92.309[deg]	[grasp_sample.py: 539]
+05/11 00:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:33:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:33:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:33:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:33:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:34:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:34:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:34:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:34:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:34:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:34:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:34:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:34:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:34:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.464[deg]	[grasp_sample.py: 539]
+05/11 00:34:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:34:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:34:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:34:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:35:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:35:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:35:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:35:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:35:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:35:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:35:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.232[deg]	[grasp_sample.py: 539]
+05/11 00:35:16 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:35:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:35:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:35:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085219m	[env.py: 870]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97920217  0.86561529  0.08521921] yaw=-155.3deg	[env.py: 1019]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90656725  0.10595769  0.08521921] yaw=156.3deg	[env.py: 1019]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9327433   0.49607284  0.08521921] yaw=-177.4deg	[env.py: 1019]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.0ms, total=121.0ms	[env.py: 1075]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.866, 0.085)	[env.py: 1079]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
+05/11 00:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:35:19 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:35:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:35:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:35:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:35:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:35:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 75.004[deg]	[grasp_sample.py: 539]
+05/11 00:35:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:35:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:35:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:35:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:35:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:35:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:35:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:35:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:35:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:35:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:35:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:35:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:35:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:35:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:35:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:35:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:35:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:35:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.03s (batch: 5.12s, save: 8.91s)	[pipeline.py: 300]
+05/11 00:35:59 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.31s:
+  episode_total: mean=245.03s, total=245.03s, count=1, min=245031.3ms, max=245031.3ms
+  sensor_polling: mean=512.4ms, total=153.72s, count=300, min=447.4ms, max=744.7ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.4ms, max=8912.4ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=17.3ms, max=86.2ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5119.9ms, max=5119.9ms
+  task_sampling: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
+  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
+  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
+  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
+  task_specific_sample: mean=843.5ms, total=843.5ms, count=1, min=843.5ms, max=843.5ms
+  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
+  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
+  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
+  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
+  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
+  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
+  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
+  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=632.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:36:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097417m	[env.py: 870]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75602017  0.89358059  0.09741725] yaw=-166.8deg	[env.py: 1019]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97022408  1.12981366  0.09741725] yaw=-141.7deg	[env.py: 1019]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7988714   1.09157473  0.09741725] yaw=-146.0deg	[env.py: 1019]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.2ms, total=258.2ms	[env.py: 1075]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.894, 0.097)	[env.py: 1079]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
+05/11 00:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:36:02 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:36:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:36:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:36:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.15s (batch: 4.01s, save: 9.14s)	[pipeline.py: 300]
+05/11 00:36:06 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.37s:
+  episode_total: mean=252.99s, total=252.99s, count=1, min=252989.3ms, max=252989.3ms
+  sensor_polling: mean=515.4ms, total=154.61s, count=300, min=455.8ms, max=802.0ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9139.8ms, max=9139.8ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=14.7ms, max=89.7ms
+  task_sampling: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.6ms, max=4009.6ms
+  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
+  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
+  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
+  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
+  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
+  task_specific_sample: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
+  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=399.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:36:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.144s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:36:07 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.618[m] 89.411[deg]	[grasp_sample.py: 539]
+05/11 00:36:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:36:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:36:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:36:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:36:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:36:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:36:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:36:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:36:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023439m	[env.py: 870]
+05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:36:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:36:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0362622   1.27565532  0.02343864] yaw=-130.2deg	[env.py: 1019]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:36:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=830.8ms, total=830.8ms	[env.py: 1075]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.276, 0.023)	[env.py: 1079]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg	[env.py: 1082]
+05/11 00:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:36:09 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:36:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:36:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:36:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:36:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:36:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:36:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.29s (batch: 4.68s, save: 11.61s)	[pipeline.py: 300]
+05/11 00:36:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:36:15 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.654[m] 87.640[deg]	[grasp_sample.py: 539]
+05/11 00:36:16 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.56s:
+  episode_total: mean=261.53s, total=261.53s, count=1, min=261529.0ms, max=261529.0ms
+  sensor_polling: mean=527.2ms, total=158.17s, count=300, min=446.0ms, max=866.2ms
+  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11612.7ms, max=11612.7ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=17.2ms, max=129.4ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.2ms, max=4677.2ms
+  task_sampling: mean=4.55s, total=4.55s, count=1, min=4555.0ms, max=4555.0ms
+  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
+  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1039.6ms, max=1039.6ms
+  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
+  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
+  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
+  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
+  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
+  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
+  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
+  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=388.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=45.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:36:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049903m	[env.py: 870]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90075782  0.38807623  0.04990331] yaw=177.4deg	[env.py: 1019]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94787856  1.02740991  0.04990331] yaw=-151.9deg	[env.py: 1019]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90776025  0.35156427  0.04990331] yaw=170.2deg	[env.py: 1019]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=636.4ms, total=636.5ms	[env.py: 1075]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.388, 0.050)	[env.py: 1079]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg	[env.py: 1082]
+05/11 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:36:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:36:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:36:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:36:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:36:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:36:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016345m	[env.py: 870]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6822468   0.60382898  0.01634511] yaw=-183.7deg	[env.py: 1019]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96354361  0.29673132  0.01634511] yaw=169.4deg	[env.py: 1019]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93632152  0.51046456  0.01634511] yaw=-183.0deg	[env.py: 1019]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms	[env.py: 1075]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.604, 0.016)	[env.py: 1079]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg	[env.py: 1082]
+05/11 00:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:36:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:36:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.355[m] 86.191[deg]	[grasp_sample.py: 539]
+05/11 00:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:36:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:36:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:36:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:36:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:36:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:36:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:36:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:36:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 80.649[deg]	[grasp_sample.py: 539]
+05/11 00:36:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:36:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:36:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:36:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:37:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:37:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:37:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:37:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:37:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:37:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:37:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:37:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:04 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:38:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:38:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:38:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:38:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:38:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:38:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.418s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:38:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.217[deg]	[grasp_sample.py: 539]
+05/11 00:38:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:38:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:38:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:38:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:38:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:38:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049728m	[env.py: 870]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6620719   0.61116951  0.04972796] yaw=-162.0deg	[env.py: 1019]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6748658   0.6162039   0.04972796] yaw=-167.1deg	[env.py: 1019]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.3ms	[env.py: 1075]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.611, 0.050)	[env.py: 1079]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
+05/11 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:38:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:38:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:38:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:38:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:38:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:38:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:38:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.601[m] 85.943[deg]	[grasp_sample.py: 539]
+05/11 00:38:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:38:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:38:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:38:29 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:38:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:38:29 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/11 00:38:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:38:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:38:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.79s (batch: 4.21s, save: 9.57s)	[pipeline.py: 300]
+05/11 00:38:43 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.13s:
+  episode_total: mean=203.83s, total=407.66s, count=2, min=202391.6ms, max=205267.7ms
+  sensor_polling: mean=517.9ms, total=294.67s, count=569, min=430.9ms, max=972.5ms
+  physics_step: mean=24.2ms, total=13.75s, count=569, min=17.1ms, max=91.3ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9574.9ms, max=9574.9ms
+  task_sampling: mean=2.57s, total=5.13s, count=2, min=603.1ms, max=4530.2ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.1ms, max=4213.1ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
+  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
+  task_specific_sample: mean=651.7ms, total=1.30s, count=2, min=599.8ms, max=703.6ms
+  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
+  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
+  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
+  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
+  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
+  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=451.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=33.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:38:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:38:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:38:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:38:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:38:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:38:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:38:45 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]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094684m	[env.py: 870]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:38:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81100144  0.01318435  0.09468424] yaw=147.4deg	[env.py: 1019]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=179.1ms, total=179.2ms	[env.py: 1075]
+05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.013, 0.095)	[env.py: 1079]
+05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.4 deg	[env.py: 1082]
+05/11 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:38:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:38:46 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:38:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:38:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:38:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:38:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:38:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.598[m] 96.121[deg]	[grasp_sample.py: 539]
+05/11 00:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:38:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:38:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:38:55 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:39:08 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:39:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:39:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:39:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:39:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:39:34 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:39:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:39:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:39:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:39:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:39:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 17.50s (batch: 4.61s, save: 12.89s)	[pipeline.py: 300]
+05/11 00:39:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.54s:
+  episode_total: mean=217.75s, total=217.75s, count=1, min=217754.4ms, max=217754.4ms
+  sensor_polling: mean=523.4ms, total=157.03s, count=300, min=452.6ms, max=924.0ms
+  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12890.2ms, max=12890.2ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=18.4ms, max=71.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.3ms, max=4607.3ms
+  task_sampling: mean=539.4ms, total=539.4ms, count=1, min=539.4ms, max=539.4ms
+  task_specific_sample: mean=535.6ms, total=535.6ms, count=1, min=535.6ms, max=535.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:39:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:39:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076180m	[env.py: 870]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98513379  1.30186954  0.07618025] yaw=-131.7deg	[env.py: 1019]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms	[env.py: 1075]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.302, 0.076)	[env.py: 1079]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
+05/11 00:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:39:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:39:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:39:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:39:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:39:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.697s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 00:39:43 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 00:39:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:39:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:39:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:39:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:39:45 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]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095163m	[env.py: 870]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9915143   0.73798901  0.09516297] yaw=-166.4deg	[env.py: 1019]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67673016  0.57475667  0.09516297] yaw=-169.1deg	[env.py: 1019]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81296799  0.37082029  0.09516297] yaw=166.5deg	[env.py: 1019]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=514.9ms, total=514.9ms	[env.py: 1075]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.738, 0.095)	[env.py: 1079]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
+05/11 00:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:39:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:39:45 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:39:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:39:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:39:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:39:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 90.977[deg]	[grasp_sample.py: 539]
+05/11 00:39:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:39:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:39:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:39:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:39:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:39:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.92s (batch: 5.03s, save: 9.88s)	[pipeline.py: 300]
+05/11 00:39:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.60s:
+  episode_total: mean=109.84s, total=219.68s, count=2, min=8707.6ms, max=210975.1ms
+  sensor_polling: mean=520.1ms, total=156.02s, count=300, min=453.2ms, max=1059.9ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9881.8ms, max=9881.8ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.6ms, max=84.5ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5034.4ms, max=5034.4ms
+  task_sampling: mean=800.5ms, total=1.60s, count=2, min=499.0ms, max=1102.0ms
+  task_specific_sample: mean=796.2ms, total=1.59s, count=2, min=495.5ms, max=1096.9ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.5ms, max=3.5ms
+  mj_forward_sync: mean=606.9us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=27.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:39:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:39:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:39:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:39:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:39:52 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]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061028m	[env.py: 870]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97253211  0.95913948  0.06102845] yaw=-152.9deg	[env.py: 1019]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76421274  0.89554437  0.06102845] yaw=-154.6deg	[env.py: 1019]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99722467  1.02483745  0.06102845] yaw=-142.8deg	[env.py: 1019]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms	[env.py: 1075]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.959, 0.061)	[env.py: 1079]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
+05/11 00:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:39:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:39:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:39:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:39:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:39:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:39:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 96.885[deg]	[grasp_sample.py: 539]
+05/11 00:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:39:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:39:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:40:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:40:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:40:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:40:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:40:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:40:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:40:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:40:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:40:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:41:09 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:41:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:41:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:41:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:41:39 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:41:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:41:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:41:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.88s (batch: 4.27s, save: 9.61s)	[pipeline.py: 300]
+05/11 00:41:46 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.44s:
+  episode_total: mean=163.16s, total=326.32s, count=2, min=118299.9ms, max=208022.8ms
+  sensor_polling: mean=525.8ms, total=255.01s, count=485, min=441.3ms, max=1092.0ms
+  physics_step: mean=24.6ms, total=11.95s, count=485, min=15.4ms, max=132.9ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9613.9ms, max=9613.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.6ms, max=4269.6ms
+  task_sampling: mean=722.3ms, total=1.44s, count=2, min=519.7ms, max=924.9ms
+  task_specific_sample: mean=718.5ms, total=1.44s, count=2, min=516.5ms, max=920.5ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=479.0us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:41:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:41:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:41:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:41:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027709m	[env.py: 870]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00318048  1.01292841  0.0277086 ] yaw=-145.8deg	[env.py: 1019]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64626573  0.31438186  0.0277086 ] yaw=175.8deg	[env.py: 1019]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.701376    0.58884135  0.0277086 ] yaw=-177.8deg	[env.py: 1019]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:41:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=502.4ms, total=502.5ms	[env.py: 1075]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.013, 0.028)	[env.py: 1079]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
+05/11 00:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:41:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:41:48 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:41:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:41:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:41:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:41:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:41:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:41:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.126[deg]	[grasp_sample.py: 539]
+05/11 00:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:41:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:41:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:42:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:42:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:42:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:42:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:42:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.22s (batch: 4.79s, save: 11.43s)	[pipeline.py: 300]
+05/11 00:42:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.46s:
+  episode_total: mean=215.95s, total=215.95s, count=1, min=215950.4ms, max=215950.4ms
+  sensor_polling: mean=521.8ms, total=156.53s, count=300, min=452.5ms, max=887.1ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11432.1ms, max=11432.1ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=17.5ms, max=89.4ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4792.7ms, max=4792.7ms
+  task_sampling: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms
+  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=595.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:42:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:42:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:42:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022767m	[env.py: 870]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68773587  0.3700653   0.02276685] yaw=182.2deg	[env.py: 1019]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67430075  0.66295777  0.02276685] yaw=-168.0deg	[env.py: 1019]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9383255   1.15625671  0.02276685] yaw=-127.8deg	[env.py: 1019]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.7ms, total=81.8ms	[env.py: 1075]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.370, 0.023)	[env.py: 1079]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.2 deg	[env.py: 1082]
+05/11 00:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:42:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:42:23 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:42:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:42:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:42:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:42:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:42:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:42:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 101.935[deg]	[grasp_sample.py: 539]
+05/11 00:42:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:42:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:42:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:42:29 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:42:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:42:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:42:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:42:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:42:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:42:57 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 00:42:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:43:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:43:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:43:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:43:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:43:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:43:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.31s, save: 9.02s)	[pipeline.py: 300]
+05/11 00:43:11 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
+  episode_total: mean=104.65s, total=209.29s, count=2, min=2377.2ms, max=206916.4ms
+  sensor_polling: mean=527.7ms, total=152.50s, count=289, min=457.8ms, max=901.4ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.8ms, max=9024.8ms
+  physics_step: mean=25.3ms, total=7.31s, count=289, min=17.9ms, max=85.1ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.9ms, max=4314.9ms
+  task_sampling: mean=669.7ms, total=1.34s, count=2, min=530.0ms, max=809.3ms
+  task_specific_sample: mean=666.4ms, total=1.33s, count=2, min=526.3ms, max=806.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=412.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:43:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:43:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:43:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:43:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:43:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:43:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:43:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033044m	[env.py: 870]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:43:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89485653  0.58131449  0.03304378] yaw=-175.7deg	[env.py: 1019]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04921043  1.27014876  0.03304378] yaw=-139.0deg	[env.py: 1019]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94781425  0.74960878  0.03304378] yaw=-164.4deg	[env.py: 1019]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:43:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms	[env.py: 1075]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.581, 0.033)	[env.py: 1079]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
+05/11 00:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:43:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:43:14 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:43:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:43:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:43:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:43:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:43:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:43:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.406[m] 101.025[deg]	[grasp_sample.py: 539]
+05/11 00:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:43:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:43:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:43:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:43:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:43:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.34s (batch: 4.47s, save: 10.86s)	[pipeline.py: 300]
+05/11 00:43:22 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s:
+  episode_total: mean=209.84s, total=209.84s, count=1, min=209840.0ms, max=209840.0ms
+  sensor_polling: mean=512.2ms, total=153.67s, count=300, min=452.1ms, max=929.5ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10864.4ms, max=10864.4ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.5ms, max=119.1ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4473.6ms, max=4473.6ms
+  task_sampling: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
+  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:43:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:43:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:43:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:43:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:43:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:43:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:43:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083086m	[env.py: 870]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:43:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03485443  0.83742156  0.08308624] yaw=-160.5deg	[env.py: 1019]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6729336   0.39702582  0.08308624] yaw=173.3deg	[env.py: 1019]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88909269  0.42279257  0.08308624] yaw=186.7deg	[env.py: 1019]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:43:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms	[env.py: 1075]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.837, 0.083)	[env.py: 1079]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg	[env.py: 1082]
+05/11 00:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:43:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:43:24 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:43:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:43:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:43:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:43:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:43:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.221s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:43:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 92.489[deg]	[grasp_sample.py: 539]
+05/11 00:43:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:43:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:43:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:43:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:43:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:44:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:44:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:44:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:44:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:44:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:44:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:44:39 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:45:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:45:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:45:10 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:45:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:45:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:45:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 4.82s, save: 9.54s)	[pipeline.py: 300]
+05/11 00:45:17 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.79s:
+  episode_total: mean=209.38s, total=209.38s, count=1, min=209384.5ms, max=209384.5ms
+  sensor_polling: mean=517.7ms, total=155.30s, count=300, min=434.7ms, max=1047.5ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9537.6ms, max=9537.6ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.0ms, max=131.7ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.6ms, max=4823.6ms
+  task_sampling: mean=794.3ms, total=794.3ms, count=1, min=794.3ms, max=794.3ms
+  task_specific_sample: mean=790.0ms, total=790.0ms, count=1, min=790.0ms, max=790.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=536.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:45:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:45:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:45:19 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]
+05/11 00:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069934m	[env.py: 870]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94098893  0.67006087  0.06993384] yaw=-159.3deg	[env.py: 1019]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94263695  0.93391546  0.06993384] yaw=-138.1deg	[env.py: 1019]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95753268  0.6355937   0.06993384] yaw=-166.0deg	[env.py: 1019]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms	[env.py: 1075]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.670, 0.070)	[env.py: 1079]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.3 deg	[env.py: 1082]
+05/11 00:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:45:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:45:19 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:45:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:45:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 87.337[deg]	[grasp_sample.py: 539]
+05/11 00:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:45:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:45:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:45:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:45:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:45:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:45:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:45:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:45:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.32s (batch: 4.50s, save: 8.81s)	[pipeline.py: 300]
+05/11 00:45:50 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
+  episode_total: mean=207.26s, total=207.26s, count=1, min=207264.0ms, max=207264.0ms
+  sensor_polling: mean=513.9ms, total=154.17s, count=300, min=442.8ms, max=999.0ms
+  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.4ms, max=8811.4ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=17.1ms, max=128.7ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.0ms, max=4504.0ms
+  task_sampling: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
+  task_specific_sample: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:45:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:45:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:45:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:45:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:45:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:45:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:45:52 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]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087919m	[env.py: 870]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:45:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74510075  0.03820371  0.0879185 ] yaw=150.1deg	[env.py: 1019]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95035402  0.53996909  0.0879185 ] yaw=-185.1deg	[env.py: 1019]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93903755  0.2303884   0.0879185 ] yaw=153.1deg	[env.py: 1019]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:45:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.4ms	[env.py: 1075]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.038, 0.088)	[env.py: 1079]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg	[env.py: 1082]
+05/11 00:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:45:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:45:52 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:45:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:45:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:45:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:45:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:45:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:45:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.621[m] 91.433[deg]	[grasp_sample.py: 539]
+05/11 00:45:55 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:45:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:45:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:45:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:45:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:45:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:45:57 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]
+05/11 00:45:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:45:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047052m	[env.py: 870]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:45:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79221895  1.02478728  0.04705247] yaw=-147.3deg	[env.py: 1019]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63712943  0.40846091  0.04705247] yaw=183.5deg	[env.py: 1019]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92338768  0.65964233  0.04705247] yaw=-177.9deg	[env.py: 1019]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:45:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=375.5ms, total=375.5ms	[env.py: 1075]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 1.025, 0.047)	[env.py: 1079]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/11 00:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:45:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:45:58 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:45:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:45:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:45:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:45:58 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:46:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:46:04 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.663[m] 79.538[deg]	[grasp_sample.py: 539]
+05/11 00:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:46:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:46:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:46:06 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:46:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:46:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:46:25 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:46:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:46:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:46:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:46:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:46:30 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/11 00:46:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:46:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:46:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.60s (batch: 4.67s, save: 11.93s)	[pipeline.py: 300]
+05/11 00:46:43 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=209.55s, total=209.55s, count=1, min=209552.9ms, max=209552.9ms
+  sensor_polling: mean=510.1ms, total=153.03s, count=300, min=435.6ms, max=1035.2ms
+  save_trajectories: mean=11.93s, total=11.93s, count=1, min=11927.5ms, max=11927.5ms
+  physics_step: mean=24.0ms, total=7.21s, count=300, min=18.2ms, max=78.8ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.6ms, max=4673.6ms
+  task_sampling: mean=492.2ms, total=492.2ms, count=1, min=492.2ms, max=492.2ms
+  task_specific_sample: mean=488.6ms, total=488.6ms, count=1, min=488.6ms, max=488.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=391.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:46:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:46:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:46:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:46:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:46:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:46:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:46:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009764m	[env.py: 870]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:46:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89126526  0.04043431  0.00976432] yaw=160.1deg	[env.py: 1019]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64487533  0.47083144  0.00976432] yaw=180.1deg	[env.py: 1019]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:46:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.8ms, total=243.8ms	[env.py: 1075]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.040, 0.010)	[env.py: 1079]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
+05/11 00:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:46:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:46:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:46:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:46:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:46:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:46:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:46:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:46:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 94.681[deg]	[grasp_sample.py: 539]
+05/11 00:46:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:46:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:46:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:46:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:46:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:46:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.62s (batch: 5.17s, save: 11.45s)	[pipeline.py: 300]
+05/11 00:46:48 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
+  episode_total: mean=203.88s, total=203.88s, count=1, min=203884.0ms, max=203884.0ms
+  sensor_polling: mean=509.9ms, total=149.40s, count=293, min=444.3ms, max=898.2ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11451.4ms, max=11451.4ms
+  physics_step: mean=25.6ms, total=7.50s, count=293, min=18.0ms, max=97.9ms
+  save_batch_prep: mean=5.17s, total=5.17s, count=1, min=5167.0ms, max=5167.0ms
+  task_sampling: mean=501.4ms, total=501.4ms, count=1, min=501.4ms, max=501.4ms
+  task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=512.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:46:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:46:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:46:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:46:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:46:49 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]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090132m	[env.py: 870]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90043258  0.59141735  0.09013177] yaw=-176.3deg	[env.py: 1019]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89834219  0.58001214  0.09013177] yaw=-176.1deg	[env.py: 1019]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87171622  0.33409877  0.09013177] yaw=180.9deg	[env.py: 1019]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:46:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms	[env.py: 1075]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.591, 0.090)	[env.py: 1079]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
+05/11 00:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:46:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:46:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:46:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:46:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:46:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:46:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:46:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:46:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:46:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.379[m] 88.408[deg]	[grasp_sample.py: 539]
+05/11 00:46:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:46:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:46:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:47:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:47:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:47:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:47:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:47:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:47:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:47:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:47:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:47:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:48:01 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:48:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:48:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:48:23 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/11 00:48:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:48:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:48:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.18s (batch: 4.51s, save: 8.67s)	[pipeline.py: 300]
+05/11 00:48:37 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=198.10s, total=198.10s, count=1, min=198096.4ms, max=198096.4ms
+  sensor_polling: mean=516.1ms, total=148.63s, count=288, min=440.6ms, max=822.1ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8669.0ms, max=8669.0ms
+  physics_step: mean=25.2ms, total=7.25s, count=288, min=14.8ms, max=58.5ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4508.3ms, max=4508.3ms
+  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
+  task_specific_sample: mean=470.7ms, total=470.7ms, count=1, min=470.7ms, max=470.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:48:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:48:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:48:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:48:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:48:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:48:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:48:39 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]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061277m	[env.py: 870]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:48:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95067     0.4779803   0.06127664] yaw=180.6deg	[env.py: 1019]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69789322  0.27156207  0.06127664] yaw=168.6deg	[env.py: 1019]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66926416  0.85339012  0.06127664] yaw=-164.0deg	[env.py: 1019]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=546.5ms, total=546.5ms	[env.py: 1075]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.478, 0.061)	[env.py: 1079]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.6 deg	[env.py: 1082]
+05/11 00:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:48:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:48:40 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:48:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:48:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:48:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:48:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:48:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.285[m] 90.192[deg]	[grasp_sample.py: 539]
+05/11 00:48:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:48:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:48:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:48:46 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:49:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:49:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:49:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:49:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:49:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:49:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.65s (batch: 4.61s, save: 11.04s)	[pipeline.py: 300]
+05/11 00:49:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
+  episode_total: mean=106.31s, total=212.63s, count=2, min=3417.0ms, max=209209.8ms
+  sensor_polling: mean=501.3ms, total=150.40s, count=300, min=427.7ms, max=894.5ms
+  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11038.5ms, max=11038.5ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=17.2ms, max=112.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.1ms, max=4607.1ms
+  task_sampling: mean=585.2ms, total=1.17s, count=2, min=518.5ms, max=651.9ms
+  task_specific_sample: mean=581.2ms, total=1.16s, count=2, min=513.8ms, max=648.5ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.2ms
+  mj_forward_sync: mean=556.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=22.7us, 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]
+05/11 00:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:49:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:49:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000409m	[env.py: 870]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-7.68158897e-01  3.28490743e-01  4.09137457e-04] yaw=176.4deg	[env.py: 1019]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-7.39010607e-01  9.41711776e-01  4.09137457e-04] yaw=-147.0deg	[env.py: 1019]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.52533349e-01  3.16823200e-01  4.09137457e-04] yaw=162.3deg	[env.py: 1019]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=418.8ms, total=418.8ms	[env.py: 1075]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.328, 0.000)	[env.py: 1079]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg	[env.py: 1082]
+05/11 00:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:49:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:49:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:49:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:49:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:49:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:49:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:49:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:49:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.522[m] 96.177[deg]	[grasp_sample.py: 539]
+05/11 00:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:49:41 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:50:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:50:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:50:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:50:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:50:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:50:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:50:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.318[deg]	[grasp_sample.py: 539]
+05/11 00:50:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:50:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:50:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:50:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:50:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:50:10 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/11 00:50:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:50:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:50:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:50:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.23s (batch: 4.58s, save: 10.65s)	[pipeline.py: 300]
+05/11 00:50:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
+  episode_total: mean=216.71s, total=216.71s, count=1, min=216707.4ms, max=216707.4ms
+  sensor_polling: mean=525.4ms, total=156.05s, count=297, min=451.8ms, max=866.0ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.3ms, max=10645.3ms
+  physics_step: mean=27.5ms, total=8.17s, count=297, min=18.0ms, max=76.8ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4584.7ms, max=4584.7ms
+  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
+  task_specific_sample: mean=399.0ms, total=399.0ms, count=1, min=399.0ms, max=399.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:50:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:50:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:50:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:50:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:50:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:50:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:50:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079126m	[env.py: 870]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:50:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72542115  0.54700934  0.07912559] yaw=-167.5deg	[env.py: 1019]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67990677  0.77256379  0.07912559] yaw=-159.0deg	[env.py: 1019]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69315193  0.34756244  0.07912559] yaw=163.9deg	[env.py: 1019]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:50:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms	[env.py: 1075]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.547, 0.079)	[env.py: 1079]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/11 00:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:50:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:50:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:50:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:50:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:50:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:50:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:50:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.583[m] 92.399[deg]	[grasp_sample.py: 539]
+05/11 00:50:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:50:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:50:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:50:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:50:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:50:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:50:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:50:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:50:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:50:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.45s (batch: 4.52s, save: 8.93s)	[pipeline.py: 300]
+05/11 00:50:50 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
+  episode_total: mean=245.56s, total=245.56s, count=1, min=245561.7ms, max=245561.7ms
+  sensor_polling: mean=516.8ms, total=155.05s, count=300, min=456.8ms, max=1162.8ms
+  save_trajectories: mean=8.93s, total=8.93s, count=1, min=8932.3ms, max=8932.3ms
+  physics_step: mean=25.9ms, total=7.76s, count=300, min=15.2ms, max=93.8ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.4ms, max=4522.4ms
+  task_sampling: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
+  task_specific_sample: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=473.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:50:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:50:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:50:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026368m	[env.py: 870]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96495249  0.34149481  0.02636788] yaw=162.8deg	[env.py: 1019]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96215397  1.10179202  0.02636788] yaw=-144.4deg	[env.py: 1019]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.19852704  1.08827145  0.02636788] yaw=-135.4deg	[env.py: 1019]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms	[env.py: 1075]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.341, 0.026)	[env.py: 1079]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
+05/11 00:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:50:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:50:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:50:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:50:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:50:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:50:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:50:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:50:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.290[deg]	[grasp_sample.py: 539]
+05/11 00:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:50:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:50:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:51:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:51:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:51:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:51:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:51:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:51:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:51:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:51:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:51:44 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/11 00:51:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:51:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:51:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:51:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.06s (batch: 4.18s, save: 10.88s)	[pipeline.py: 300]
+05/11 00:52:00 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.85s:
+  episode_total: mean=201.34s, total=201.34s, count=1, min=201337.3ms, max=201337.3ms
+  sensor_polling: mean=531.8ms, total=147.30s, count=277, min=451.0ms, max=1004.3ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.1ms, max=10880.1ms
+  physics_step: mean=28.0ms, total=7.76s, count=277, min=18.1ms, max=69.6ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4183.1ms, max=4183.1ms
+  task_sampling: mean=853.0ms, total=853.0ms, count=1, min=853.0ms, max=853.0ms
+  task_specific_sample: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=887.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:52:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:52:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066349m	[env.py: 870]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:52:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91207555  0.26156429  0.0663489 ] yaw=167.2deg	[env.py: 1019]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84854508  0.12651558  0.0663489 ] yaw=146.2deg	[env.py: 1019]
+05/11 00:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81526875  0.25258478  0.0663489 ] yaw=173.5deg	[env.py: 1019]
+05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=620.4ms, total=620.5ms	[env.py: 1075]
+05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.262, 0.066)	[env.py: 1079]
+05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg	[env.py: 1082]
+05/11 00:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:52:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:52:03 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:52:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:52:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:52:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:52:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:52:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:52:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.386[m] 89.506[deg]	[grasp_sample.py: 539]
+05/11 00:52:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:52:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:52:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:52:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:52:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:52:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:52:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:52:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:52:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.210[deg]	[grasp_sample.py: 539]
+05/11 00:52:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:52:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:52:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:52:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:52:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:52:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:52:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:52:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:52:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:52:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.84s (batch: 4.55s, save: 9.29s)	[pipeline.py: 300]
+05/11 00:52:58 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.73s:
+  episode_total: mean=210.24s, total=210.24s, count=1, min=210236.5ms, max=210236.5ms
+  sensor_polling: mean=516.5ms, total=154.96s, count=300, min=441.2ms, max=949.4ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.8ms, max=9287.8ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=15.5ms, max=69.0ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.0ms, max=4553.0ms
+  task_sampling: mean=727.0ms, total=727.0ms, count=1, min=727.0ms, max=727.0ms
+  task_specific_sample: mean=722.3ms, total=722.3ms, count=1, min=722.3ms, max=722.3ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=567.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:52:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:53:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:53:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:53:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:53:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m	[env.py: 870]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10472766  1.00752333  0.06463532] yaw=-140.5deg	[env.py: 1019]
+05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:53:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=509.9ms, total=510.0ms	[env.py: 1075]
+05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.008, 0.065)	[env.py: 1079]
+05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
+05/11 00:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:53:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:53:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:53:01 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:53:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:53:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:53:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:53:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:53:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 80.329[deg]	[grasp_sample.py: 539]
+05/11 00:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:53:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:53:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:53:20 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:53:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:53:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:53:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:53:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:53:38 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:53:38 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.450[deg]	[grasp_sample.py: 539]
+05/11 00:53:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:53:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:53:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:53:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:53:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:53:41 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]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094401m	[env.py: 870]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79820358  1.1010736   0.09440148] yaw=-137.6deg	[env.py: 1019]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08342142  1.00509624  0.09440148] yaw=-134.6deg	[env.py: 1019]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14293041  1.03714711  0.09440148] yaw=-146.4deg	[env.py: 1019]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.5ms, total=114.5ms	[env.py: 1075]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 1.101, 0.094)	[env.py: 1079]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg	[env.py: 1082]
+05/11 00:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:53:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:53:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:53:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:53:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:53:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:53:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.707[m] 95.636[deg]	[grasp_sample.py: 539]
+05/11 00:53:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:53:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:53:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:53:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:53:45 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:53:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 00:53:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:53:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:53:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:53:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.33s (batch: 4.34s, save: 8.99s)	[pipeline.py: 300]
+05/11 00:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:53:59 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s:
+  episode_total: mean=211.45s, total=211.45s, count=1, min=211446.9ms, max=211446.9ms
+  sensor_polling: mean=532.2ms, total=159.67s, count=300, min=464.9ms, max=964.7ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.1ms, max=8989.1ms
+  physics_step: mean=24.6ms, total=7.39s, count=300, min=15.3ms, max=67.6ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.9ms, max=4338.9ms
+  task_sampling: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms
+  task_specific_sample: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=384.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:54:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:54:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:54:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:54:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:54:01 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]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045202m	[env.py: 870]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16087066  1.03945931  0.04520151] yaw=-127.4deg	[env.py: 1019]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10642694  1.22571936  0.04520151] yaw=-119.1deg	[env.py: 1019]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99267228  1.2174553   0.04520151] yaw=-133.7deg	[env.py: 1019]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:54:01 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]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.161, 1.039, 0.045)	[env.py: 1079]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg	[env.py: 1082]
+05/11 00:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:54:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:54:02 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:54:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:54:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:54:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:54:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:54:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:54:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:54:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 94.162[deg]	[grasp_sample.py: 539]
+05/11 00:54:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:54:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:54:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.169[deg]	[grasp_sample.py: 539]
+05/11 00:54:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:54:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:54:04 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:54:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:54:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:54:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:54:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:54:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:54:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022520m	[env.py: 870]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:54:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92858926  1.04154216  0.02251965] yaw=-134.7deg	[env.py: 1019]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:54:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.8ms, total=296.9ms	[env.py: 1075]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.042, 0.023)	[env.py: 1079]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
+05/11 00:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:54:07 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:54:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:54:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:54:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:54:10 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.551[m] 89.450[deg]	[grasp_sample.py: 539]
+05/11 00:54:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:54:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:54:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:54:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:54:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:54:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:54:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:55:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:55:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:55:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:55:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:55:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:55:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:55:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:55:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:55:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]	[grasp_sample.py: 539]
+05/11 00:55:59 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:56:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:56:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:56:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:56:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:56:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:56:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:56:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:56:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011196m	[env.py: 870]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:56:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79223216  0.25844613  0.01119644] yaw=177.5deg	[env.py: 1019]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66756092  0.7413375   0.01119644] yaw=-160.5deg	[env.py: 1019]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83090592  0.80556625  0.01119644] yaw=-149.0deg	[env.py: 1019]
+05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=284.4ms, total=284.4ms	[env.py: 1075]
+05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.258, 0.011)	[env.py: 1079]
+05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
+05/11 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:56:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:56:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:56:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:56:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:56:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:56:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:56:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:56:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.514[m] 82.741[deg]	[grasp_sample.py: 539]
+05/11 00:56:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:56:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:56:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:56:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 00:56:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:56:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:56:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:56:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:56:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:56:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.618[deg]	[grasp_sample.py: 539]
+05/11 00:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:56:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:56:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:56:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:56:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:56:33 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:56:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:56:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:56:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:56:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:56:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:56:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:56:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:56:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]	[grasp_sample.py: 539]
+05/11 00:56:50 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:56:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:56:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:56:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:56:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:56:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043174m	[env.py: 870]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07783071  1.09688986  0.0431744 ] yaw=-146.4deg	[env.py: 1019]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87600809  0.46788561  0.0431744 ] yaw=177.4deg	[env.py: 1019]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79890149  0.03924415  0.0431744 ] yaw=143.9deg	[env.py: 1019]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:56:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.097, 0.043)	[env.py: 1079]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg	[env.py: 1082]
+05/11 00:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:56:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:56:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:56:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:56:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:56:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:56:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.928s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 87.067[deg]	[grasp_sample.py: 539]
+05/11 00:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:56:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:56:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:57:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 00:57:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:57:00 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:57:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:57:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:57:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:57:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.00s (batch: 4.34s, save: 8.67s)	[pipeline.py: 300]
+05/11 00:57:13 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.81s:
+  episode_total: mean=189.95s, total=379.90s, count=2, min=167380.4ms, max=212520.4ms
+  sensor_polling: mean=528.9ms, total=275.01s, count=520, min=438.4ms, max=1208.8ms
+  physics_step: mean=25.7ms, total=13.34s, count=520, min=13.7ms, max=120.1ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8666.5ms, max=8666.5ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.0ms, max=4335.0ms
+  task_sampling: mean=403.2ms, total=806.3ms, count=2, min=400.9ms, max=405.4ms
+  task_specific_sample: mean=399.7ms, total=799.4ms, count=2, min=397.6ms, max=401.8ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=420.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:57:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:57:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:57:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:57:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:57:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:57:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:57:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005592m	[env.py: 870]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:57:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92539158  0.32934765  0.00559181] yaw=174.0deg	[env.py: 1019]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79561786  1.0933088   0.00559181] yaw=-136.8deg	[env.py: 1019]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81352595  0.8917951   0.00559181] yaw=-165.5deg	[env.py: 1019]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:57:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms	[env.py: 1075]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.329, 0.006)	[env.py: 1079]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
+05/11 00:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:57:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:57:15 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:57:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:57:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:57:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:57:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:57:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:57:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 92.831[deg]	[grasp_sample.py: 539]
+05/11 00:57:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:57:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:57:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 00:57:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:57:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:57:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:57:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.93s (batch: 4.37s, save: 8.56s)	[pipeline.py: 300]
+05/11 00:57:35 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
+  episode_total: mean=165.73s, total=331.46s, count=2, min=122219.1ms, max=209240.9ms
+  sensor_polling: mean=535.1ms, total=261.13s, count=488, min=444.7ms, max=1032.6ms
+  physics_step: mean=24.8ms, total=12.08s, count=488, min=15.1ms, max=98.5ms
+  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8561.6ms, max=8561.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
+  task_sampling: mean=776.2ms, total=1.55s, count=2, min=632.5ms, max=920.0ms
+  task_specific_sample: mean=772.3ms, total=1.54s, count=2, min=629.0ms, max=915.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=480.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:57:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:57:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:57:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:57:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:57:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:57:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:57:37 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]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022112m	[env.py: 870]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:57:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87970226  0.77682183  0.02211193] yaw=-161.8deg	[env.py: 1019]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64175594  0.73723587  0.02211193] yaw=-173.7deg	[env.py: 1019]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74451428  0.45632229  0.02211193] yaw=174.9deg	[env.py: 1019]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.8ms	[env.py: 1075]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.777, 0.022)	[env.py: 1079]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
+05/11 00:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:57:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:57:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:57:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:57:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:57:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:57:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 89.653[deg]	[grasp_sample.py: 539]
+05/11 00:57:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:57:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:57:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:57:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:57:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:58:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:58:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:58:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:58:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:58:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:58:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 00:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:59:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:59:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:59:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:59:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:59:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.649[deg]	[grasp_sample.py: 539]
+05/11 00:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:59:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:59:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 00:59:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 00:59:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 00:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 00:59:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 00:59:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 00:59:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:59:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:59:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:59:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 00:59:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.038s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:59:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.212[deg]	[grasp_sample.py: 539]
+05/11 00:59:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 00:59:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 00:59:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.96s (batch: 4.42s, save: 11.54s)	[pipeline.py: 300]
+05/11 00:59:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 00:59:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.41s:
+  episode_total: mean=198.16s, total=396.31s, count=2, min=179208.7ms, max=217103.2ms
+  sensor_polling: mean=519.5ms, total=302.89s, count=583, min=434.7ms, max=967.3ms
+  physics_step: mean=25.5ms, total=14.89s, count=583, min=17.2ms, max=115.7ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11539.1ms, max=11539.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4422.9ms, max=4422.9ms
+  task_sampling: mean=704.8ms, total=1.41s, count=2, min=601.2ms, max=808.3ms
+  task_specific_sample: mean=700.2ms, total=1.40s, count=2, min=597.6ms, max=802.8ms
+  scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.4ms, max=3.8ms
+  mj_forward_sync: mean=562.6us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 00:59:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:59:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:59:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:59:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:59:40 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]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051369m	[env.py: 870]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 00:59:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 00:59:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94972559  0.86943033  0.05136863] yaw=-145.9deg	[env.py: 1019]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:59:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 00:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 00:59:40 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]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062078m	[env.py: 870]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 00:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83047996  0.01959731  0.05136863] yaw=144.5deg	[env.py: 1019]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05437008  0.91907745  0.05136863] yaw=-144.8deg	[env.py: 1019]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.3ms, total=316.3ms	[env.py: 1075]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.869, 0.051)	[env.py: 1079]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78626021  0.09818999  0.06207754] yaw=159.1deg	[env.py: 1019]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80954933  0.28675749  0.06207754] yaw=175.0deg	[env.py: 1019]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 00:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=514.6ms, total=514.6ms	[env.py: 1075]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.098, 0.062)	[env.py: 1079]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
+05/11 00:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 00:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 00:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:59:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.183s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 00:59:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 00:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 00:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 00:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 00:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 00:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:59:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 78.170[deg]	[grasp_sample.py: 539]
+05/11 00:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 00:59:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.526[m] 84.420[deg]	[grasp_sample.py: 539]
+05/11 00:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 00:59:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:59:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 00:59:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 00:59:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:00:21 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:00:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:00:29 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:00:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:00:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:00:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:00:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 01:00:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 01:00:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:00:51 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 01:00:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 01:00:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:00:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:00:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:00:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 01:00:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.59s (batch: 4.69s, save: 9.90s)	[pipeline.py: 300]
+05/11 01:00:59 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=224.49s, total=224.49s, count=1, min=224486.8ms, max=224486.8ms
+  sensor_polling: mean=526.2ms, total=157.87s, count=300, min=447.5ms, max=951.9ms
+  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9901.5ms, max=9901.5ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.9ms, max=135.0ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4690.7ms, max=4690.7ms
+  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
+  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:01:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:01:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:01:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:01:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 01:01:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:01:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:01:01 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]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073033m	[env.py: 870]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:01:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84748518  0.6484439   0.07303299] yaw=-170.4deg	[env.py: 1019]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86312757  0.73962416  0.07303299] yaw=-168.7deg	[env.py: 1019]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:01:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms	[env.py: 1075]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.648, 0.073)	[env.py: 1079]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg	[env.py: 1082]
+05/11 01:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:01:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:01:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:01:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:01:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:01:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:01:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 94.521[deg]	[grasp_sample.py: 539]
+05/11 01:01:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:01:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:01:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:01:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:01:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 01:01:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.65s (batch: 5.21s, save: 9.43s)	[pipeline.py: 300]
+05/11 01:01:07 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
+  episode_total: mean=209.63s, total=209.63s, count=1, min=209625.9ms, max=209625.9ms
+  sensor_polling: mean=531.0ms, total=159.30s, count=300, min=445.3ms, max=930.9ms
+  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9432.8ms, max=9432.8ms
+  physics_step: mean=25.7ms, total=7.71s, count=300, min=15.8ms, max=83.4ms
+  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5214.6ms, max=5214.6ms
+  task_sampling: mean=493.8ms, total=493.8ms, count=1, min=493.8ms, max=493.8ms
+  task_specific_sample: mean=489.8ms, total=489.8ms, count=1, min=489.8ms, max=489.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=432.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:01:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:01:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:01:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 01:01:09 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]
+05/11 01:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:01:09 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]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094954m	[env.py: 870]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74883115  0.31468155  0.09495364] yaw=169.0deg	[env.py: 1019]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=399.8ms, total=399.8ms	[env.py: 1075]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.315, 0.095)	[env.py: 1079]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg	[env.py: 1082]
+05/11 01:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:01:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:01:09 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:01:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:01:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:01:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:01:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.979s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:01:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.482[m] 85.427[deg]	[grasp_sample.py: 539]
+05/11 01:01:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:01:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:01:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:01:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:02:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:02:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:02:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:02:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:02:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:36 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:02:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:02:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:02:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:02:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:02:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.430[deg]	[grasp_sample.py: 539]
+05/11 01:02:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:02:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:02:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:05 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:03:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 01:03:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 01:03:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:03:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:03:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 01:03:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.70s (batch: 4.82s, save: 10.88s)	[pipeline.py: 300]
+05/11 01:03:23 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.66s:
+  episode_total: mean=222.82s, total=222.82s, count=1, min=222819.1ms, max=222819.1ms
+  sensor_polling: mean=540.2ms, total=162.05s, count=300, min=449.3ms, max=1043.5ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.8ms, max=10880.8ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=14.0ms, max=98.0ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4822.8ms, max=4822.8ms
+  task_sampling: mean=658.2ms, total=658.2ms, count=1, min=658.2ms, max=658.2ms
+  task_specific_sample: mean=653.5ms, total=653.5ms, count=1, min=653.5ms, max=653.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=635.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:03:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:03:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:03:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:03:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 01:03:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:03:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:03:25 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]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049113m	[env.py: 870]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:03:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98185232  0.69869961  0.04911298] yaw=-171.3deg	[env.py: 1019]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93247261  0.35054965  0.04911298] yaw=174.0deg	[env.py: 1019]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70554748  0.38824591  0.04911298] yaw=177.6deg	[env.py: 1019]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:03:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.6ms, total=117.6ms	[env.py: 1075]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.699, 0.049)	[env.py: 1079]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
+05/11 01:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:03:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:03:25 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:03:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:03:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:03:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:03:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:03:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.307[m] 84.203[deg]	[grasp_sample.py: 539]
+05/11 01:03:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:03:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:03:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:03:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 01:03:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 01:03:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:03:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 01:03:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.19s (batch: 5.30s, save: 10.89s)	[pipeline.py: 300]
+05/11 01:03:49 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.70s:
+  episode_total: mean=194.57s, total=583.70s, count=3, min=165929.1ms, max=248597.5ms
+  sensor_polling: mean=529.9ms, total=442.49s, count=835, min=422.6ms, max=994.8ms
+  physics_step: mean=27.0ms, total=22.53s, count=835, min=18.1ms, max=102.6ms
+  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10888.3ms, max=10888.3ms
+  save_batch_prep: mean=5.30s, total=5.30s, count=1, min=5300.5ms, max=5300.5ms
+  task_sampling: mean=566.1ms, total=1.70s, count=3, min=398.9ms, max=837.8ms
+  task_specific_sample: mean=561.5ms, total=1.68s, count=3, min=393.2ms, max=833.6ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=538.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:03:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:03:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:03:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 01:03:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:03:51 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]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094525m	[env.py: 870]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99580039  0.92593319  0.09452461] yaw=-155.1deg	[env.py: 1019]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89034538  0.6533655   0.09452461] yaw=-163.2deg	[env.py: 1019]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70198041  0.62395356  0.09452461] yaw=-165.0deg	[env.py: 1019]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms	[env.py: 1075]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.926, 0.095)	[env.py: 1079]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/11 01:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:03:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:03:51 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:03:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:03:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:03:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 96.999[deg]	[grasp_sample.py: 539]
+05/11 01:03:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:03:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:03:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:03:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:03:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:03:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.662[deg]	[grasp_sample.py: 539]
+05/11 01:03:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:03:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:03:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:00 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:04:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:04:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:04:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:04:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:04:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:04:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:04:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.641[deg]	[grasp_sample.py: 539]
+05/11 01:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:04:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:04:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
+05/11 01:04:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 01:04:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 01:04:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:04:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:04:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:04:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:04:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.632[deg]	[grasp_sample.py: 539]
+05/11 01:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:04:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:04:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:04:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 01:04:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 01:04:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 01:04:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:04:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:04:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 01:04:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.93s (batch: 5.08s, save: 9.85s)	[pipeline.py: 300]
+05/11 01:04:38 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
+  episode_total: mean=216.57s, total=216.57s, count=1, min=216569.2ms, max=216569.2ms
+  sensor_polling: mean=548.7ms, total=164.60s, count=300, min=460.1ms, max=1000.0ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9853.9ms, max=9853.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=72.7ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5075.7ms, max=5075.7ms
+  task_sampling: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
+  task_specific_sample: mean=516.8ms, total=516.8ms, count=1, min=516.8ms, max=516.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=475.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 01:04:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:04:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:04:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:04:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 01:04:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:04:40 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]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071637m	[env.py: 870]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99103347  1.05502453  0.07163739] yaw=-136.7deg	[env.py: 1019]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69134363  0.55969811  0.07163739] yaw=-180.5deg	[env.py: 1019]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.651399    0.15794562  0.07163739] yaw=162.2deg	[env.py: 1019]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:04:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.4ms, total=181.4ms	[env.py: 1075]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.055, 0.072)	[env.py: 1079]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg	[env.py: 1082]
+05/11 01:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:04:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:04:40 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:04:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:04:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:04:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:04:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:04:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:04:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 93.101[deg]	[grasp_sample.py: 539]
+05/11 01:04:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:04:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:04:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:04:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012	[pipeline.py: 1174]
+05/11 01:04:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 01:04:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 01:04:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:04:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:05:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 01:05:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012	[save_utils.py: 785]
+05/11 01:05:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.87s (batch: 5.15s, save: 11.72s)	[pipeline.py: 300]
+05/11 01:05:04 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
+  episode_total: mean=235.28s, total=235.28s, count=1, min=235276.9ms, max=235276.9ms
+  sensor_polling: mean=550.3ms, total=165.08s, count=300, min=467.2ms, max=953.5ms
+  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11722.2ms, max=11722.2ms
+  physics_step: mean=28.4ms, total=8.52s, count=300, min=16.1ms, max=96.1ms
+  save_batch_prep: mean=5.15s, total=5.15s, count=1, min=5148.9ms, max=5148.9ms
+  task_sampling: mean=754.0ms, total=754.0ms, count=1, min=754.0ms, max=754.0ms
+  task_specific_sample: mean=748.6ms, total=748.6ms, count=1, min=748.6ms, max=748.6ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=712.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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]
+05/11 01:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 01:05:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 01:05:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:05:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/11 01:05:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 01:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 01:05:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065164m	[env.py: 870]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 01:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95275879  0.56732967  0.06516449] yaw=-167.9deg	[env.py: 1019]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08313551  1.23266603  0.06516449] yaw=-121.9deg	[env.py: 1019]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68954507  0.69903309  0.06516449] yaw=-165.3deg	[env.py: 1019]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 01:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms	[env.py: 1075]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.567, 0.065)	[env.py: 1079]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.9 deg	[env.py: 1082]
+05/11 01:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 01:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 01:05:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 01:05:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 01:05:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 01:05:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 01:05:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 01:05:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 01:05:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 01:05:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 93.092[deg]	[grasp_sample.py: 539]
+05/11 01:05:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 01:05:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 01:05:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:05:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:05:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:05:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:05:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 01:05:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:06:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 01:06:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
diff --git a/fridge_7/chunk_012/shard_1_of_4.log b/fridge_7/chunk_012/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..51121c78620149f739e4f4f40a1280c7e98a358f
--- /dev/null
+++ b/fridge_7/chunk_012/shard_1_of_4.log
@@ -0,0 +1,1133 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
+  shard=1/4  seed=21201  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/11 00:31:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/11 00:31:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/11 00:31:54 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x73413ffe8c90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21201,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/11 00:31:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/11 00:31:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 126724081112656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 126724081112656 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 126724081112656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 126724081112656 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 126724079191056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126724079191056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126724079199568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126724079199568 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126724079199568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126724079199568 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126724079191056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126724079191056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126724086983952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126724086983952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126724086986256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126724086986256 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 126724086986256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126724086986256 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126724086983952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126724086983952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/11 00:31:55 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5d8c20aac6f0 at 0x7341403e8550>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d8c20ada290 at 0x734140406810>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d8c20ada290 at 0x73414037a5d0>
+[05/11 00:31:58 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/11 00:31:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:31:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:31:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069104m
+[05/11 00:31:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:31:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/11 00:31:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74877214  0.51798261  0.06910422] yaw=-177.7deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73395878  0.77280032  0.06910422] yaw=-156.1deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77301674  0.72398382  0.06910422] yaw=-160.5deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:31:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:31:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=44.2ms, retries=502.9ms, total=547.1ms
+[05/11 00:31:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.518, 0.069)
+[05/11 00:31:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:31:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 32.232s
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/11 00:32:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True
+[05/11 00:32:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.547[m] 96.987[deg]
+[05/11 00:32:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:33:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:33:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:33:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:35:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/11 00:35:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:35:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 00:35:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:35:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/11 00:35:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:35:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.03s (batch: 5.12s, save: 8.91s)
+[05/11 00:35:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.31s:
+  episode_total: mean=245.03s, total=245.03s, count=1, min=245031.3ms, max=245031.3ms
+  sensor_polling: mean=512.4ms, total=153.72s, count=300, min=447.4ms, max=744.7ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.4ms, max=8912.4ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=17.3ms, max=86.2ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5119.9ms, max=5119.9ms
+  task_sampling: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
+  scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms
+  scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms
+  compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms
+  task_specific_sample: mean=843.5ms, total=843.5ms, count=1, min=843.5ms, max=843.5ms
+  scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms
+  compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms
+  scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms
+  asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms
+  compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
+  compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
+  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
+  compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=632.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:36:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:36:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:36:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/11 00:36:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:36:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:36:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097417m
+[05/11 00:36:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:36:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:36:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75602017  0.89358059  0.09741725] yaw=-166.8deg
+[05/11 00:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97022408  1.12981366  0.09741725] yaw=-141.7deg
+[05/11 00:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7988714   1.09157473  0.09741725] yaw=-146.0deg
+[05/11 00:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:36:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:36:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.2ms, total=258.2ms
+[05/11 00:36:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.894, 0.097)
+[05/11 00:36:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg
+[05/11 00:36:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.032m
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:36:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/11 00:36:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/11 00:36:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:36:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:36:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/11 00:36:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.144s, found feasible grasp: True
+[05/11 00:36:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.618[m] 89.411[deg]
+[05/11 00:36:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:37:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:38:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:39:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:39:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 00:39:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:39:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:39:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:39:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 17.50s (batch: 4.61s, save: 12.89s)
+[05/11 00:39:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.54s:
+  episode_total: mean=217.75s, total=217.75s, count=1, min=217754.4ms, max=217754.4ms
+  sensor_polling: mean=523.4ms, total=157.03s, count=300, min=452.6ms, max=924.0ms
+  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12890.2ms, max=12890.2ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=18.4ms, max=71.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.3ms, max=4607.3ms
+  task_sampling: mean=539.4ms, total=539.4ms, count=1, min=539.4ms, max=539.4ms
+  task_specific_sample: mean=535.6ms, total=535.6ms, count=1, min=535.6ms, max=535.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:39:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:39:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:39:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:39:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
+[05/11 00:39:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:39:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:39:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076180m
+[05/11 00:39:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:39:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:39:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98513379  1.30186954  0.07618025] yaw=-131.7deg
+[05/11 00:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:39:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms
+[05/11 00:39:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.302, 0.076)
+[05/11 00:39:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg
+[05/11 00:39:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:39:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:39:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/11 00:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/11 00:39:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:39:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:39:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/11 00:39:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.697s, found feasible grasp: False
+[05/11 00:39:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/11 00:39:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:39:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:39:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:39:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/11 00:39:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:39:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:39:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095163m
+[05/11 00:39:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:39:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:39:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:39:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9915143   0.73798901  0.09516297] yaw=-166.4deg
+[05/11 00:39:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67673016  0.57475667  0.09516297] yaw=-169.1deg
+[05/11 00:39:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:39:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81296799  0.37082029  0.09516297] yaw=166.5deg
+[05/11 00:39:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:39:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:39:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=514.9ms, total=514.9ms
+[05/11 00:39:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.738, 0.095)
+[05/11 00:39:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg
+[05/11 00:39:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:39:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:39:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:39:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/11 00:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
+[05/11 00:39:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:39:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:39:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/11 00:39:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.663s, found feasible grasp: True
+[05/11 00:39:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 90.977[deg]
+[05/11 00:39:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:42:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:42:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:42:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 00:42:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
+[05/11 00:43:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:43:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:43:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.31s, save: 9.02s)
+[05/11 00:43:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
+  episode_total: mean=104.65s, total=209.29s, count=2, min=2377.2ms, max=206916.4ms
+  sensor_polling: mean=527.7ms, total=152.50s, count=289, min=457.8ms, max=901.4ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.8ms, max=9024.8ms
+  physics_step: mean=25.3ms, total=7.31s, count=289, min=17.9ms, max=85.1ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.9ms, max=4314.9ms
+  task_sampling: mean=669.7ms, total=1.34s, count=2, min=530.0ms, max=809.3ms
+  task_specific_sample: mean=666.4ms, total=1.33s, count=2, min=526.3ms, max=806.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=412.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/11 00:43:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:43:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:43:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:43:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
+[05/11 00:43:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:43:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:43:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033044m
+[05/11 00:43:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:43:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:43:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89485653  0.58131449  0.03304378] yaw=-175.7deg
+[05/11 00:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04921043  1.27014876  0.03304378] yaw=-139.0deg
+[05/11 00:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94781425  0.74960878  0.03304378] yaw=-164.4deg
+[05/11 00:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:43:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:43:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms
+[05/11 00:43:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.581, 0.033)
+[05/11 00:43:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg
+[05/11 00:43:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:43:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:43:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/11 00:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/11 00:43:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:43:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:43:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/11 00:43:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
+[05/11 00:43:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.406[m] 101.025[deg]
+[05/11 00:43:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:44:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:44:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:45:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:46:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:46:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 00:46:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:46:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:46:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:46:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.60s (batch: 4.67s, save: 11.93s)
+[05/11 00:46:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=209.55s, total=209.55s, count=1, min=209552.9ms, max=209552.9ms
+  sensor_polling: mean=510.1ms, total=153.03s, count=300, min=435.6ms, max=1035.2ms
+  save_trajectories: mean=11.93s, total=11.93s, count=1, min=11927.5ms, max=11927.5ms
+  physics_step: mean=24.0ms, total=7.21s, count=300, min=18.2ms, max=78.8ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.6ms, max=4673.6ms
+  task_sampling: mean=492.2ms, total=492.2ms, count=1, min=492.2ms, max=492.2ms
+  task_specific_sample: mean=488.6ms, total=488.6ms, count=1, min=488.6ms, max=488.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=391.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:46:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:46:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:46:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:46:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/11 00:46:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:46:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:46:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009764m
+[05/11 00:46:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:46:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:46:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:46:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89126526  0.04043431  0.00976432] yaw=160.1deg
+[05/11 00:46:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:46:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:46:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64487533  0.47083144  0.00976432] yaw=180.1deg
+[05/11 00:46:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:46:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:46:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.8ms, total=243.8ms
+[05/11 00:46:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.040, 0.010)
+[05/11 00:46:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg
+[05/11 00:46:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.923m
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:46:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:46:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:46:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/11 00:46:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/11 00:46:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:46:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:46:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/11 00:46:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True
+[05/11 00:46:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.510[m] 94.681[deg]
+[05/11 00:46:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:46:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:47:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:47:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:49:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:49:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:49:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:49:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:50:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:50:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:50:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:50:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:50:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:50:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
+[05/11 00:50:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.441s, found feasible grasp: True
+[05/11 00:50:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.318[deg]
+[05/11 00:50:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:50:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:50:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:50:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 00:50:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:50:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:50:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:50:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.45s (batch: 4.52s, save: 8.93s)
+[05/11 00:50:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
+  episode_total: mean=245.56s, total=245.56s, count=1, min=245561.7ms, max=245561.7ms
+  sensor_polling: mean=516.8ms, total=155.05s, count=300, min=456.8ms, max=1162.8ms
+  save_trajectories: mean=8.93s, total=8.93s, count=1, min=8932.3ms, max=8932.3ms
+  physics_step: mean=25.9ms, total=7.76s, count=300, min=15.2ms, max=93.8ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.4ms, max=4522.4ms
+  task_sampling: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
+  task_specific_sample: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=473.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:50:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:50:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:50:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:50:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
+[05/11 00:50:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:50:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:50:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026368m
+[05/11 00:50:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:50:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:50:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:50:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96495249  0.34149481  0.02636788] yaw=162.8deg
+[05/11 00:50:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:50:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96215397  1.10179202  0.02636788] yaw=-144.4deg
+[05/11 00:50:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:50:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:50:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:50:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.19852704  1.08827145  0.02636788] yaw=-135.4deg
+[05/11 00:50:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:50:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:50:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms
+[05/11 00:50:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.341, 0.026)
+[05/11 00:50:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg
+[05/11 00:50:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.751m
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:50:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:50:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/11 00:50:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/11 00:50:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:50:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:50:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/11 00:50:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True
+[05/11 00:50:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.290[deg]
+[05/11 00:50:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:50:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:50:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:51:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:52:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:52:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:52:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:52:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:52:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:52:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:52:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:52:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:52:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:52:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:52:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:52:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps
+[05/11 00:52:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.708s, found feasible grasp: True
+[05/11 00:52:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.210[deg]
+[05/11 00:52:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:52:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:52:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:52:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:52:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:52:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:52:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:52:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:53:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:53:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:53:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:53:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:53:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:53:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:53:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:53:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:53:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/11 00:53:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:53:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:53:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 74 non-colliding grasps
+[05/11 00:53:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.806s, found feasible grasp: True
+[05/11 00:53:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.450[deg]
+[05/11 00:53:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:53:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:53:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:53:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:53:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/11 00:53:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:53:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:53:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094401m
+[05/11 00:53:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:53:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:53:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:53:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79820358  1.1010736   0.09440148] yaw=-137.6deg
+[05/11 00:53:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:53:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08342142  1.00509624  0.09440148] yaw=-134.6deg
+[05/11 00:53:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:53:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14293041  1.03714711  0.09440148] yaw=-146.4deg
+[05/11 00:53:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:53:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:53:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.5ms, total=114.5ms
+[05/11 00:53:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 1.101, 0.094)
+[05/11 00:53:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg
+[05/11 00:53:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:53:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:53:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:53:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/11 00:53:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/11 00:53:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:53:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:53:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/11 00:53:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.093s, found feasible grasp: True
+[05/11 00:53:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.707[m] 95.636[deg]
+[05/11 00:53:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:53:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:54:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:55:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:56:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:57:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:57:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 00:57:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:57:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:57:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:57:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.00s (batch: 4.34s, save: 8.67s)
+[05/11 00:57:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.81s:
+  episode_total: mean=189.95s, total=379.90s, count=2, min=167380.4ms, max=212520.4ms
+  sensor_polling: mean=528.9ms, total=275.01s, count=520, min=438.4ms, max=1208.8ms
+  physics_step: mean=25.7ms, total=13.34s, count=520, min=13.7ms, max=120.1ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8666.5ms, max=8666.5ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.0ms, max=4335.0ms
+  task_sampling: mean=403.2ms, total=806.3ms, count=2, min=400.9ms, max=405.4ms
+  task_specific_sample: mean=399.7ms, total=799.4ms, count=2, min=397.6ms, max=401.8ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=420.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.9us, 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
+[05/11 00:57:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:57:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:57:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:57:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/11 00:57:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:57:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:57:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005592m
+[05/11 00:57:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:57:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:57:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:57:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92539158  0.32934765  0.00559181] yaw=174.0deg
+[05/11 00:57:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:57:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79561786  1.0933088   0.00559181] yaw=-136.8deg
+[05/11 00:57:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:57:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:57:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81352595  0.8917951   0.00559181] yaw=-165.5deg
+[05/11 00:57:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:57:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:57:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms
+[05/11 00:57:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.329, 0.006)
+[05/11 00:57:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg
+[05/11 00:57:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:57:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:57:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/11 00:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/11 00:57:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:57:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:57:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/11 00:57:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True
+[05/11 00:57:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.367[m] 92.831[deg]
+[05/11 00:57:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:57:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:57:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:58:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:59:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:59:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:59:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:59:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:59:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:59:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps
+[05/11 00:59:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True
+[05/11 00:59:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.649[deg]
+[05/11 00:59:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:59:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:00:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/11 01:00:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:00:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 01:00:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 01:00:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 01:00:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:00:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.59s (batch: 4.69s, save: 9.90s)
+[05/11 01:00:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=224.49s, total=224.49s, count=1, min=224486.8ms, max=224486.8ms
+  sensor_polling: mean=526.2ms, total=157.87s, count=300, min=447.5ms, max=951.9ms
+  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9901.5ms, max=9901.5ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.9ms, max=135.0ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4690.7ms, max=4690.7ms
+  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
+  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=409.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 01:01:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 01:01:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:01:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 01:01:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/11 01:01:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 01:01:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 01:01:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073033m
+[05/11 01:01:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 01:01:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 01:01:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84748518  0.6484439   0.07303299] yaw=-170.4deg
+[05/11 01:01:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 01:01:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86312757  0.73962416  0.07303299] yaw=-168.7deg
+[05/11 01:01:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 01:01:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 01:01:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms
+[05/11 01:01:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.648, 0.073)
+[05/11 01:01:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg
+[05/11 01:01:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:01:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:01:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 01:01:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/11 01:01:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/11 01:01:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:01:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:01:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/11 01:01:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
+[05/11 01:01:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 94.521[deg]
+[05/11 01:01:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:04:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/11 01:04:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:04:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes
+[05/11 01:04:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 01:04:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 01:04:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:04:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.93s (batch: 5.08s, save: 9.85s)
+[05/11 01:04:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
+  episode_total: mean=216.57s, total=216.57s, count=1, min=216569.2ms, max=216569.2ms
+  sensor_polling: mean=548.7ms, total=164.60s, count=300, min=460.1ms, max=1000.0ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9853.9ms, max=9853.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=72.7ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5075.7ms, max=5075.7ms
+  task_sampling: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
+  task_specific_sample: mean=516.8ms, total=516.8ms, count=1, min=516.8ms, max=516.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=475.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 01:04:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 01:04:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:04:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 01:04:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/11 01:04:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 01:04:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 01:04:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071637m
+[05/11 01:04:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 01:04:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 01:04:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:04:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:04:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99103347  1.05502453  0.07163739] yaw=-136.7deg
+[05/11 01:04:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 01:04:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69134363  0.55969811  0.07163739] yaw=-180.5deg
+[05/11 01:04:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 01:04:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.651399    0.15794562  0.07163739] yaw=162.2deg
+[05/11 01:04:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 01:04:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 01:04:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.4ms, total=181.4ms
+[05/11 01:04:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.055, 0.072)
+[05/11 01:04:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg
+[05/11 01:04:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:04:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:04:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 01:04:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/11 01:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/11 01:04:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:04:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:04:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/11 01:04:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True
+[05/11 01:04:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.518[m] 93.101[deg]
+[05/11 01:04:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_012/shard_2_of_4.log b/fridge_7/chunk_012/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..819f29bd494a55aae78a7a7d687b4e4ffaf76bc3
--- /dev/null
+++ b/fridge_7/chunk_012/shard_2_of_4.log
@@ -0,0 +1,1122 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
+  shard=2/4  seed=21202  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/11 00:31:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/11 00:31:53 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/11 00:31:53 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x710346a62690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/11 00:31:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/11 00:31:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 124258882214032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 124258882214032 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 124258882214032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 124258882214032 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 124258887450000 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124258887450000 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 124258887449616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124258887449616 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 124258887449616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124258887449616 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 124258887450000 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124258887450000 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 124258887678032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124258887678032 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 124258887670544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124258887670544 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 124258887670544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124258887670544 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 124258887678032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124258887678032 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/11 00:31:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60cf424a9c20 at 0x710346e4a710>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60cf424ab4b0 at 0x710346e59b50>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60cf424ab4b0 at 0x710346ac9250>
+[05/11 00:31:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/11 00:31:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:31:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/11 00:31:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:31:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:31:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072457m
+[05/11 00:31:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:31:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/11 00:31:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:31:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79703873  0.4237756   0.07245704] yaw=172.4deg
+[05/11 00:31:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:31:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02872824  1.22802633  0.07245704] yaw=-128.5deg
+[05/11 00:31:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:31:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63134984  0.54529931  0.07245704] yaw=-165.9deg
+[05/11 00:31:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:31:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:31:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.2ms, retries=118.3ms, total=130.4ms
+[05/11 00:31:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.424, 0.072)
+[05/11 00:31:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg
+[05/11 00:31:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.907m
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:31:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/11 00:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 31.943s
+[05/11 00:32:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:32:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:32:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/11 00:32:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True
+[05/11 00:32:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.436[m] 83.949[deg]
+[05/11 00:32:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:33:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:34:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:34:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:34:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:34:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:34:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:34:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:34:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/11 00:34:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True
+[05/11 00:34:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.464[deg]
+[05/11 00:34:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:34:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:34:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:34:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:35:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:35:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:35:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/11 00:35:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:35:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 00:35:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:36:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/11 00:36:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:36:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.15s (batch: 4.01s, save: 9.14s)
+[05/11 00:36:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.37s:
+  episode_total: mean=252.99s, total=252.99s, count=1, min=252989.3ms, max=252989.3ms
+  sensor_polling: mean=515.4ms, total=154.61s, count=300, min=455.8ms, max=802.0ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9139.8ms, max=9139.8ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=14.7ms, max=89.7ms
+  task_sampling: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.6ms, max=4009.6ms
+  scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms
+  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms
+  scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms
+  compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms
+  compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms
+  task_specific_sample: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
+  scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=399.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:36:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:36:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:36:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:36:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/11 00:36:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:36:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:36:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023439m
+[05/11 00:36:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:36:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:36:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0362622   1.27565532  0.02343864] yaw=-130.2deg
+[05/11 00:36:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:36:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:36:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=830.8ms, total=830.8ms
+[05/11 00:36:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.276, 0.023)
+[05/11 00:36:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg
+[05/11 00:36:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.036m
+[05/11 00:36:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:36:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/11 00:36:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
+[05/11 00:36:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:36:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:36:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/11 00:36:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.527s, found feasible grasp: True
+[05/11 00:36:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.654[m] 87.640[deg]
+[05/11 00:36:17 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:36:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:36:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:36:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/11 00:36:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:36:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:36:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016345m
+[05/11 00:36:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:36:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:36:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6822468   0.60382898  0.01634511] yaw=-183.7deg
+[05/11 00:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96354361  0.29673132  0.01634511] yaw=169.4deg
+[05/11 00:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93632152  0.51046456  0.01634511] yaw=-183.0deg
+[05/11 00:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:36:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:36:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms
+[05/11 00:36:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.604, 0.016)
+[05/11 00:36:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg
+[05/11 00:36:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:36:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/11 00:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.121s
+[05/11 00:36:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:36:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:36:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/11 00:36:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True
+[05/11 00:36:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.550[m] 80.649[deg]
+[05/11 00:36:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:37:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:37:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:39:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:39:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:39:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 00:39:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:39:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:39:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:39:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.92s (batch: 5.03s, save: 9.88s)
+[05/11 00:39:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.60s:
+  episode_total: mean=109.84s, total=219.68s, count=2, min=8707.6ms, max=210975.1ms
+  sensor_polling: mean=520.1ms, total=156.02s, count=300, min=453.2ms, max=1059.9ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9881.8ms, max=9881.8ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.6ms, max=84.5ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5034.4ms, max=5034.4ms
+  task_sampling: mean=800.5ms, total=1.60s, count=2, min=499.0ms, max=1102.0ms
+  task_specific_sample: mean=796.2ms, total=1.59s, count=2, min=495.5ms, max=1096.9ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.5ms, max=3.5ms
+  mj_forward_sync: mean=606.9us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=27.1us, 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
+[05/11 00:39:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:39:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:39:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:39:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/11 00:39:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:39:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:39:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061028m
+[05/11 00:39:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:39:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:39:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:39:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97253211  0.95913948  0.06102845] yaw=-152.9deg
+[05/11 00:39:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:39:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:39:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76421274  0.89554437  0.06102845] yaw=-154.6deg
+[05/11 00:39:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:39:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99722467  1.02483745  0.06102845] yaw=-142.8deg
+[05/11 00:39:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:39:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:39:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms
+[05/11 00:39:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.959, 0.061)
+[05/11 00:39:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg
+[05/11 00:39:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.872m
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:39:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:39:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:39:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/11 00:39:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/11 00:39:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:39:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:39:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
+[05/11 00:39:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True
+[05/11 00:39:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.466[m] 96.885[deg]
+[05/11 00:39:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:40:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:42:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:43:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:43:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 00:43:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:43:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:43:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:43:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.34s (batch: 4.47s, save: 10.86s)
+[05/11 00:43:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s:
+  episode_total: mean=209.84s, total=209.84s, count=1, min=209840.0ms, max=209840.0ms
+  sensor_polling: mean=512.2ms, total=153.67s, count=300, min=452.1ms, max=929.5ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10864.4ms, max=10864.4ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.5ms, max=119.1ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4473.6ms, max=4473.6ms
+  task_sampling: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
+  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:43:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:43:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:43:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:43:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
+[05/11 00:43:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:43:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:43:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083086m
+[05/11 00:43:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:43:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:43:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:43:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03485443  0.83742156  0.08308624] yaw=-160.5deg
+[05/11 00:43:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:43:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6729336   0.39702582  0.08308624] yaw=173.3deg
+[05/11 00:43:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:43:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:43:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88909269  0.42279257  0.08308624] yaw=186.7deg
+[05/11 00:43:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:43:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:43:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.7ms
+[05/11 00:43:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.837, 0.083)
+[05/11 00:43:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg
+[05/11 00:43:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:43:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:43:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:43:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/11 00:43:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.112s
+[05/11 00:43:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:43:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:43:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/11 00:43:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.221s, found feasible grasp: True
+[05/11 00:43:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.360[m] 92.489[deg]
+[05/11 00:43:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:44:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:44:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:46:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:46:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:46:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 00:46:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
+[05/11 00:46:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:46:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:46:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.62s (batch: 5.17s, save: 11.45s)
+[05/11 00:46:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s:
+  episode_total: mean=203.88s, total=203.88s, count=1, min=203884.0ms, max=203884.0ms
+  sensor_polling: mean=509.9ms, total=149.40s, count=293, min=444.3ms, max=898.2ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11451.4ms, max=11451.4ms
+  physics_step: mean=25.6ms, total=7.50s, count=293, min=18.0ms, max=97.9ms
+  save_batch_prep: mean=5.17s, total=5.17s, count=1, min=5167.0ms, max=5167.0ms
+  task_sampling: mean=501.4ms, total=501.4ms, count=1, min=501.4ms, max=501.4ms
+  task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=512.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:46:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:46:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:46:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:46:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:46:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:46:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:46:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:46:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/11 00:46:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:46:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:46:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090132m
+[05/11 00:46:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:46:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:46:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:46:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90043258  0.59141735  0.09013177] yaw=-176.3deg
+[05/11 00:46:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:46:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89834219  0.58001214  0.09013177] yaw=-176.1deg
+[05/11 00:46:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:46:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:46:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:46:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87171622  0.33409877  0.09013177] yaw=180.9deg
+[05/11 00:46:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:46:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:46:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms
+[05/11 00:46:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.591, 0.090)
+[05/11 00:46:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg
+[05/11 00:46:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m
+[05/11 00:46:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:46:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:46:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:46:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:46:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:46:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/11 00:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/11 00:46:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:46:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:46:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/11 00:46:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True
+[05/11 00:46:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.379[m] 88.408[deg]
+[05/11 00:46:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:47:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:47:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:49:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:50:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:50:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 00:50:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/11 00:50:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:50:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:50:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.23s (batch: 4.58s, save: 10.65s)
+[05/11 00:50:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
+  episode_total: mean=216.71s, total=216.71s, count=1, min=216707.4ms, max=216707.4ms
+  sensor_polling: mean=525.4ms, total=156.05s, count=297, min=451.8ms, max=866.0ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.3ms, max=10645.3ms
+  physics_step: mean=27.5ms, total=8.17s, count=297, min=18.0ms, max=76.8ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4584.7ms, max=4584.7ms
+  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
+  task_specific_sample: mean=399.0ms, total=399.0ms, count=1, min=399.0ms, max=399.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:50:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:50:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:50:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:50:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/11 00:50:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:50:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:50:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079126m
+[05/11 00:50:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:50:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:50:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:50:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:50:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:50:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72542115  0.54700934  0.07912559] yaw=-167.5deg
+[05/11 00:50:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:50:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67990677  0.77256379  0.07912559] yaw=-159.0deg
+[05/11 00:50:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:50:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69315193  0.34756244  0.07912559] yaw=163.9deg
+[05/11 00:50:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:50:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:50:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms
+[05/11 00:50:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.547, 0.079)
+[05/11 00:50:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
+[05/11 00:50:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:50:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:50:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/11 00:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/11 00:50:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:50:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:50:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:50:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.622s, found feasible grasp: True
+[05/11 00:50:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.583[m] 92.399[deg]
+[05/11 00:50:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:51:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:53:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:53:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:53:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 00:53:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:53:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:53:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:53:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.33s (batch: 4.34s, save: 8.99s)
+[05/11 00:53:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.40s:
+  episode_total: mean=211.45s, total=211.45s, count=1, min=211446.9ms, max=211446.9ms
+  sensor_polling: mean=532.2ms, total=159.67s, count=300, min=464.9ms, max=964.7ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.1ms, max=8989.1ms
+  physics_step: mean=24.6ms, total=7.39s, count=300, min=15.3ms, max=67.6ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.9ms, max=4338.9ms
+  task_sampling: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms
+  task_specific_sample: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=384.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:54:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:54:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:54:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:54:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
+[05/11 00:54:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:54:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:54:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045202m
+[05/11 00:54:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:54:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:54:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:54:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16087066  1.03945931  0.04520151] yaw=-127.4deg
+[05/11 00:54:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:54:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10642694  1.22571936  0.04520151] yaw=-119.1deg
+[05/11 00:54:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:54:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99267228  1.2174553   0.04520151] yaw=-133.7deg
+[05/11 00:54:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:54:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:54:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.6ms
+[05/11 00:54:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.161, 1.039, 0.045)
+[05/11 00:54:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg
+[05/11 00:54:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:54:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:54:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:54:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/11 00:54:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/11 00:54:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:54:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:54:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 94.162[deg]
+[05/11 00:54:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:54:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:56:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:56:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:56:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:56:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:56:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:56:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps
+[05/11 00:56:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True
+[05/11 00:56:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]
+[05/11 00:56:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:56:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:56:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:56:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:56:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
+[05/11 00:56:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:56:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:56:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043174m
+[05/11 00:56:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:56:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:56:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:56:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07783071  1.09688986  0.0431744 ] yaw=-146.4deg
+[05/11 00:56:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:56:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87600809  0.46788561  0.0431744 ] yaw=177.4deg
+[05/11 00:56:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:56:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79890149  0.03924415  0.0431744 ] yaw=143.9deg
+[05/11 00:56:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:56:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:56:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms
+[05/11 00:56:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.097, 0.043)
+[05/11 00:56:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg
+[05/11 00:56:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:56:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:56:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/11 00:56:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/11 00:56:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:56:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:56:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps
+[05/11 00:56:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.928s, found feasible grasp: True
+[05/11 00:56:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.483[m] 87.067[deg]
+[05/11 00:56:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:57:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:57:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:59:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:59:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:59:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:59:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:59:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps
+[05/11 00:59:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 4.038s, found feasible grasp: True
+[05/11 00:59:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.212[deg]
+[05/11 00:59:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:59:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:59:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:59:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/11 00:59:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:59:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:59:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062078m
+[05/11 00:59:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:59:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:59:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78626021  0.09818999  0.06207754] yaw=159.1deg
+[05/11 00:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80954933  0.28675749  0.06207754] yaw=175.0deg
+[05/11 00:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=514.6ms, total=514.6ms
+[05/11 00:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.098, 0.062)
+[05/11 00:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg
+[05/11 00:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/11 00:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/11 00:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/11 00:59:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True
+[05/11 00:59:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.526[m] 84.420[deg]
+[05/11 00:59:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:00:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:00:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:00:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 01:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 01:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 01:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 01:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 01:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 01:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 01:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 01:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 01:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 01:02:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:02:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:02:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps
+[05/11 01:02:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.871s, found feasible grasp: True
+[05/11 01:02:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.430[deg]
+[05/11 01:02:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 01:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 01:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 01:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 01:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 01:03:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 01:03:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/11 01:03:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:03:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes
+[05/11 01:03:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 01:03:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 01:03:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:03:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.19s (batch: 5.30s, save: 10.89s)
+[05/11 01:03:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.70s:
+  episode_total: mean=194.57s, total=583.70s, count=3, min=165929.1ms, max=248597.5ms
+  sensor_polling: mean=529.9ms, total=442.49s, count=835, min=422.6ms, max=994.8ms
+  physics_step: mean=27.0ms, total=22.53s, count=835, min=18.1ms, max=102.6ms
+  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10888.3ms, max=10888.3ms
+  save_batch_prep: mean=5.30s, total=5.30s, count=1, min=5300.5ms, max=5300.5ms
+  task_sampling: mean=566.1ms, total=1.70s, count=3, min=398.9ms, max=837.8ms
+  task_specific_sample: mean=561.5ms, total=1.68s, count=3, min=393.2ms, max=833.6ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=538.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/11 01:03:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 01:03:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:03:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 01:03:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/11 01:03:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 01:03:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 01:03:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094525m
+[05/11 01:03:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 01:03:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 01:03:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 01:03:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99580039  0.92593319  0.09452461] yaw=-155.1deg
+[05/11 01:03:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 01:03:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:03:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89034538  0.6533655   0.09452461] yaw=-163.2deg
+[05/11 01:03:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 01:03:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:03:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:03:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70198041  0.62395356  0.09452461] yaw=-165.0deg
+[05/11 01:03:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 01:03:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 01:03:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms
+[05/11 01:03:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.926, 0.095)
+[05/11 01:03:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg
+[05/11 01:03:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.834m
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:03:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:03:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 01:03:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/11 01:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/11 01:03:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:03:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:03:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/11 01:03:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True
+[05/11 01:03:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 96.999[deg]
+[05/11 01:03:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:04:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:04:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_012/shard_3_of_4.log b/fridge_7/chunk_012/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..1593c4cd1cbd9441c075e68fd6de93930e4f8c3f
--- /dev/null
+++ b/fridge_7/chunk_012/shard_3_of_4.log
@@ -0,0 +1,1078 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
+  shard=3/4  seed=21203  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/11 00:31:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/11 00:31:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/11 00:31:54 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x7f11fb08b950>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21203,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/11 00:31:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/11 00:31:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 139715206466576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139715206466576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 139715206466576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139715206466576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 139715202121040 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139715202121040 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139715202121680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139715202121680 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139715202121680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139715202121680 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139715202121040 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139715202121040 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139715202743440 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139715202743440 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139715202731344 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139715202731344 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 139715202731344 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139715202731344 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139715202743440 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139715202743440 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/11 00:31:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f3b98b04860 at 0x7f11fb5f74d0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f3b98b06390 at 0x7f11fb601910>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f3b98b06390 at 0x7f11fb589c10>
+[05/11 00:31:58 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/11 00:31:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:31:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:31:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031160m
+[05/11 00:31:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:31:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/11 00:31:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09490439  1.07504864  0.0311603 ] yaw=-136.0deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00394469  0.98809626  0.0311603 ] yaw=-132.8deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88382103  0.75091782  0.0311603 ] yaw=-157.6deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:31:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:31:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.0ms, retries=266.7ms, total=278.7ms
+[05/11 00:31:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.075, 0.031)
+[05/11 00:31:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.849m
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:31:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/11 00:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 32.338s
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.769s, found feasible grasp: True
+[05/11 00:32:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 95.568[deg]
+[05/11 00:32:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:33:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:33:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:35:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:35:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:35:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:35:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:35:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:35:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:35:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:35:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:35:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.110s, found 76 non-colliding grasps
+[05/11 00:35:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.474s, found feasible grasp: True
+[05/11 00:35:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.232[deg]
+[05/11 00:35:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:35:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:35:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:35:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:35:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/11 00:35:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:35:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:35:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085219m
+[05/11 00:35:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:35:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:35:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97920217  0.86561529  0.08521921] yaw=-155.3deg
+[05/11 00:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90656725  0.10595769  0.08521921] yaw=156.3deg
+[05/11 00:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9327433   0.49607284  0.08521921] yaw=-177.4deg
+[05/11 00:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:35:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:35:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.0ms, total=121.0ms
+[05/11 00:35:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.866, 0.085)
+[05/11 00:35:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg
+[05/11 00:35:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:35:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:35:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/11 00:35:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
+[05/11 00:35:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:35:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:35:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/11 00:35:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True
+[05/11 00:35:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 75.004[deg]
+[05/11 00:35:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:35:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:35:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:35:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:36:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:38:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/11 00:38:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:38:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 00:38:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
+[05/11 00:38:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/11 00:38:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:38:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.79s (batch: 4.21s, save: 9.57s)
+[05/11 00:38:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=5.13s:
+  episode_total: mean=203.83s, total=407.66s, count=2, min=202391.6ms, max=205267.7ms
+  sensor_polling: mean=517.9ms, total=294.67s, count=569, min=430.9ms, max=972.5ms
+  physics_step: mean=24.2ms, total=13.75s, count=569, min=17.1ms, max=91.3ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9574.9ms, max=9574.9ms
+  task_sampling: mean=2.57s, total=5.13s, count=2, min=603.1ms, max=4530.2ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.1ms, max=4213.1ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms
+  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms
+  task_specific_sample: mean=651.7ms, total=1.30s, count=2, min=599.8ms, max=703.6ms
+  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms
+  compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms
+  compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
+  scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms
+  scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms
+  asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms
+  compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=451.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=33.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:38:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:38:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:38:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:38:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:38:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:38:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:38:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:38:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/11 00:38:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:38:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:38:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094684m
+[05/11 00:38:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:38:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:38:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:38:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81100144  0.01318435  0.09468424] yaw=147.4deg
+[05/11 00:38:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:38:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=179.1ms, total=179.2ms
+[05/11 00:38:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.013, 0.095)
+[05/11 00:38:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 147.4 deg
+[05/11 00:38:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.007m
+[05/11 00:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:38:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:38:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/11 00:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
+[05/11 00:38:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:38:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:38:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/11 00:38:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.094s, found feasible grasp: True
+[05/11 00:38:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.598[m] 96.121[deg]
+[05/11 00:38:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:40:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:41:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:42:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:42:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 00:42:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:42:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:42:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:42:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.22s (batch: 4.79s, save: 11.43s)
+[05/11 00:42:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.46s:
+  episode_total: mean=215.95s, total=215.95s, count=1, min=215950.4ms, max=215950.4ms
+  sensor_polling: mean=521.8ms, total=156.53s, count=300, min=452.5ms, max=887.1ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11432.1ms, max=11432.1ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=17.5ms, max=89.4ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4792.7ms, max=4792.7ms
+  task_sampling: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms
+  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=595.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:42:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:42:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:42:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:42:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/11 00:42:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:42:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:42:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022767m
+[05/11 00:42:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:42:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:42:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:42:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68773587  0.3700653   0.02276685] yaw=182.2deg
+[05/11 00:42:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:42:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67430075  0.66295777  0.02276685] yaw=-168.0deg
+[05/11 00:42:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:42:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9383255   1.15625671  0.02276685] yaw=-127.8deg
+[05/11 00:42:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:42:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:42:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.7ms, total=81.8ms
+[05/11 00:42:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.370, 0.023)
+[05/11 00:42:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 182.2 deg
+[05/11 00:42:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.021m
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:42:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:42:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:42:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/11 00:42:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/11 00:42:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:42:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:42:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/11 00:42:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
+[05/11 00:42:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 101.935[deg]
+[05/11 00:42:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:43:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:43:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:45:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:45:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:45:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 00:45:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:45:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:45:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:45:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.32s (batch: 4.50s, save: 8.81s)
+[05/11 00:45:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
+  episode_total: mean=207.26s, total=207.26s, count=1, min=207264.0ms, max=207264.0ms
+  sensor_polling: mean=513.9ms, total=154.17s, count=300, min=442.8ms, max=999.0ms
+  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.4ms, max=8811.4ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=17.1ms, max=128.7ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.0ms, max=4504.0ms
+  task_sampling: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
+  task_specific_sample: mean=400.3ms, total=400.3ms, count=1, min=400.3ms, max=400.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:45:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:45:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:45:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:45:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
+[05/11 00:45:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:45:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:45:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087919m
+[05/11 00:45:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:45:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:45:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:45:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74510075  0.03820371  0.0879185 ] yaw=150.1deg
+[05/11 00:45:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:45:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95035402  0.53996909  0.0879185 ] yaw=-185.1deg
+[05/11 00:45:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:45:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93903755  0.2303884   0.0879185 ] yaw=153.1deg
+[05/11 00:45:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:45:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:45:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.4ms
+[05/11 00:45:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.038, 0.088)
+[05/11 00:45:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg
+[05/11 00:45:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:45:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:45:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:45:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/11 00:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/11 00:45:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:45:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:45:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/11 00:45:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: True
+[05/11 00:45:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.621[m] 91.433[deg]
+[05/11 00:45:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:45:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:45:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:45:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:45:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
+[05/11 00:45:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:45:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:45:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047052m
+[05/11 00:45:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:45:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:45:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79221895  1.02478728  0.04705247] yaw=-147.3deg
+[05/11 00:45:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:45:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63712943  0.40846091  0.04705247] yaw=183.5deg
+[05/11 00:45:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:45:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92338768  0.65964233  0.04705247] yaw=-177.9deg
+[05/11 00:45:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:45:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:45:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=375.5ms, total=375.5ms
+[05/11 00:45:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.792, 1.025, 0.047)
+[05/11 00:45:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
+[05/11 00:45:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:45:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:45:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:45:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/11 00:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/11 00:45:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:45:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:45:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/11 00:46:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.607s, found feasible grasp: True
+[05/11 00:46:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.663[m] 79.538[deg]
+[05/11 00:46:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:47:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:48:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:49:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:49:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 00:49:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:49:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:49:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:49:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.65s (batch: 4.61s, save: 11.04s)
+[05/11 00:49:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
+  episode_total: mean=106.31s, total=212.63s, count=2, min=3417.0ms, max=209209.8ms
+  sensor_polling: mean=501.3ms, total=150.40s, count=300, min=427.7ms, max=894.5ms
+  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11038.5ms, max=11038.5ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=17.2ms, max=112.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.1ms, max=4607.1ms
+  task_sampling: mean=585.2ms, total=1.17s, count=2, min=518.5ms, max=651.9ms
+  task_specific_sample: mean=581.2ms, total=1.16s, count=2, min=513.8ms, max=648.5ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.2ms
+  mj_forward_sync: mean=556.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=22.7us, 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
+[05/11 00:49:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:49:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:49:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:49:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
+[05/11 00:49:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:49:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:49:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000409m
+[05/11 00:49:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:49:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:49:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-7.68158897e-01  3.28490743e-01  4.09137457e-04] yaw=176.4deg
+[05/11 00:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:49:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-7.39010607e-01  9.41711776e-01  4.09137457e-04] yaw=-147.0deg
+[05/11 00:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.52533349e-01  3.16823200e-01  4.09137457e-04] yaw=162.3deg
+[05/11 00:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:49:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:49:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=418.8ms, total=418.8ms
+[05/11 00:49:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.328, 0.000)
+[05/11 00:49:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg
+[05/11 00:49:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.947m
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:49:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:49:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/11 00:49:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/11 00:49:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:49:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:49:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:49:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
+[05/11 00:49:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.522[m] 96.177[deg]
+[05/11 00:49:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:50:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:52:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:52:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:52:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 00:52:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:52:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:52:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:52:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.84s (batch: 4.55s, save: 9.29s)
+[05/11 00:52:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.73s:
+  episode_total: mean=210.24s, total=210.24s, count=1, min=210236.5ms, max=210236.5ms
+  sensor_polling: mean=516.5ms, total=154.96s, count=300, min=441.2ms, max=949.4ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.8ms, max=9287.8ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=15.5ms, max=69.0ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.0ms, max=4553.0ms
+  task_sampling: mean=727.0ms, total=727.0ms, count=1, min=727.0ms, max=727.0ms
+  task_specific_sample: mean=722.3ms, total=722.3ms, count=1, min=722.3ms, max=722.3ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=567.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:53:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:53:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:53:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:53:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:53:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:53:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:53:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:53:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
+[05/11 00:53:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:53:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:53:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064635m
+[05/11 00:53:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:53:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:53:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:53:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10472766  1.00752333  0.06463532] yaw=-140.5deg
+[05/11 00:53:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:53:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:53:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=509.9ms, total=510.0ms
+[05/11 00:53:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.008, 0.065)
+[05/11 00:53:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg
+[05/11 00:53:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
+[05/11 00:53:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:53:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:53:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:53:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:53:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:53:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/11 00:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
+[05/11 00:53:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:53:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:53:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps
+[05/11 00:53:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.576s, found feasible grasp: True
+[05/11 00:53:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.386[m] 80.329[deg]
+[05/11 00:53:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:53:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:53:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:55:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:55:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:55:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:55:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:55:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:55:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:55:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:55:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps
+[05/11 00:55:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.734s, found feasible grasp: True
+[05/11 00:55:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]
+[05/11 00:55:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:56:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:56:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:56:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:56:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:56:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:56:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:56:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:56:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/11 00:56:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:56:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:56:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011196m
+[05/11 00:56:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:56:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:56:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:56:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:56:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79223216  0.25844613  0.01119644] yaw=177.5deg
+[05/11 00:56:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:56:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:56:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66756092  0.7413375   0.01119644] yaw=-160.5deg
+[05/11 00:56:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:56:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:56:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83090592  0.80556625  0.01119644] yaw=-149.0deg
+[05/11 00:56:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:56:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:56:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=284.4ms, total=284.4ms
+[05/11 00:56:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.258, 0.011)
+[05/11 00:56:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg
+[05/11 00:56:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.937m
+[05/11 00:56:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:56:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:56:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:56:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:56:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:56:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/11 00:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
+[05/11 00:56:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:56:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:56:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:56:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True
+[05/11 00:56:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.514[m] 82.741[deg]
+[05/11 00:56:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:56:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:56:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:57:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:57:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:57:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:58:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:59:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:59:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 00:59:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:59:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:59:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:59:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.96s (batch: 4.42s, save: 11.54s)
+[05/11 00:59:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.41s:
+  episode_total: mean=198.16s, total=396.31s, count=2, min=179208.7ms, max=217103.2ms
+  sensor_polling: mean=519.5ms, total=302.89s, count=583, min=434.7ms, max=967.3ms
+  physics_step: mean=25.5ms, total=14.89s, count=583, min=17.2ms, max=115.7ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11539.1ms, max=11539.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4422.9ms, max=4422.9ms
+  task_sampling: mean=704.8ms, total=1.41s, count=2, min=601.2ms, max=808.3ms
+  task_specific_sample: mean=700.2ms, total=1.40s, count=2, min=597.6ms, max=802.8ms
+  scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.4ms, max=3.8ms
+  mj_forward_sync: mean=562.6us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.3us, 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
+[05/11 00:59:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:59:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:59:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:59:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/11 00:59:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:59:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:59:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051369m
+[05/11 00:59:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:59:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:59:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94972559  0.86943033  0.05136863] yaw=-145.9deg
+[05/11 00:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83047996  0.01959731  0.05136863] yaw=144.5deg
+[05/11 00:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05437008  0.91907745  0.05136863] yaw=-144.8deg
+[05/11 00:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.3ms, total=316.3ms
+[05/11 00:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.869, 0.051)
+[05/11 00:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg
+[05/11 00:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/11 00:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.183s
+[05/11 00:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/11 00:59:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.882s, found feasible grasp: True
+[05/11 00:59:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.398[m] 78.170[deg]
+[05/11 00:59:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:00:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:00:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:02:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/11 01:03:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:03:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes
+[05/11 01:03:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 01:03:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 01:03:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:03:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.70s (batch: 4.82s, save: 10.88s)
+[05/11 01:03:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.66s:
+  episode_total: mean=222.82s, total=222.82s, count=1, min=222819.1ms, max=222819.1ms
+  sensor_polling: mean=540.2ms, total=162.05s, count=300, min=449.3ms, max=1043.5ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.8ms, max=10880.8ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=14.0ms, max=98.0ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4822.8ms, max=4822.8ms
+  task_sampling: mean=658.2ms, total=658.2ms, count=1, min=658.2ms, max=658.2ms
+  task_specific_sample: mean=653.5ms, total=653.5ms, count=1, min=653.5ms, max=653.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=635.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 01:03:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 01:03:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:03:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 01:03:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/11 01:03:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 01:03:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 01:03:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049113m
+[05/11 01:03:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 01:03:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 01:03:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 01:03:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:03:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98185232  0.69869961  0.04911298] yaw=-171.3deg
+[05/11 01:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 01:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93247261  0.35054965  0.04911298] yaw=174.0deg
+[05/11 01:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 01:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70554748  0.38824591  0.04911298] yaw=177.6deg
+[05/11 01:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 01:03:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 01:03:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.6ms, total=117.6ms
+[05/11 01:03:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.699, 0.049)
+[05/11 01:03:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg
+[05/11 01:03:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:03:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:03:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 01:03:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/11 01:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/11 01:03:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:03:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:03:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/11 01:03:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True
+[05/11 01:03:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.307[m] 84.203[deg]
+[05/11 01:03:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:06:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
diff --git a/fridge_7/chunk_012/shard_4_of_4.log b/fridge_7/chunk_012/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..622d3ee1b047afbad601103ea0945dc536bdf5f0
--- /dev/null
+++ b/fridge_7/chunk_012/shard_4_of_4.log
@@ -0,0 +1,1148 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_012
+  shard=4/4  seed=21204  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/11 00:31:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/11 00:31:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_012'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/11 00:31:54 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_012'),
+ '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 0x79e3f2140710>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 21204,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/11 00:31:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/11 00:31:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 134019926786704 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 134019926786704 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 134019926786704 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 134019926786704 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 134019924278928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134019924278928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 134019924279056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134019924279056 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 134019924279056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134019924279056 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 134019924278928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134019924278928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 134019923837072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134019923837072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 134019923840400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134019923840400 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 134019923840400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134019923840400 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 134019923837072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134019923837072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/11 00:31:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5ee5ad65afa0 at 0x79e3f2666690>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5ee5ad65c750 at 0x79e3f23883d0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5ee5ad65c750 at 0x79e3f27fd0d0>
+[05/11 00:31:58 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/11 00:31:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:31:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/11 00:31:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:31:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:31:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073737m
+[05/11 00:31:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:31:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/11 00:31:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76412524  0.95428965  0.07373731] yaw=-164.3deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:31:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97319632  1.19036629  0.07373731] yaw=-133.1deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:31:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:31:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=23.7ms, retries=618.9ms, total=642.5ms
+[05/11 00:31:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.954, 0.074)
+[05/11 00:31:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg
+[05/11 00:31:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:31:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:31:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:31:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/11 00:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 33.067s
+[05/11 00:32:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:32:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:32:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/11 00:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 9.956s, found feasible grasp: True
+[05/11 00:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.609[m] 92.309[deg]
+[05/11 00:32:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:33:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:34:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:35:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/11 00:35:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:35:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 00:35:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:36:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/11 00:36:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:36:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.29s (batch: 4.68s, save: 11.61s)
+[05/11 00:36:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.56s:
+  episode_total: mean=261.53s, total=261.53s, count=1, min=261529.0ms, max=261529.0ms
+  sensor_polling: mean=527.2ms, total=158.17s, count=300, min=446.0ms, max=866.2ms
+  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11612.7ms, max=11612.7ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=17.2ms, max=129.4ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.2ms, max=4677.2ms
+  task_sampling: mean=4.55s, total=4.55s, count=1, min=4555.0ms, max=4555.0ms
+  scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms
+  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1039.6ms, max=1039.6ms
+  scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms
+  compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
+  compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms
+  scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms
+  compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
+  compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms
+  scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
+  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=388.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=45.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:36:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:36:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:36:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
+[05/11 00:36:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:36:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:36:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049903m
+[05/11 00:36:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:36:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:36:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90075782  0.38807623  0.04990331] yaw=177.4deg
+[05/11 00:36:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:36:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:36:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94787856  1.02740991  0.04990331] yaw=-151.9deg
+[05/11 00:36:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:36:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90776025  0.35156427  0.04990331] yaw=170.2deg
+[05/11 00:36:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:36:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:36:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=636.4ms, total=636.5ms
+[05/11 00:36:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.388, 0.050)
+[05/11 00:36:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg
+[05/11 00:36:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.807m
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:36:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:36:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:36:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/11 00:36:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
+[05/11 00:36:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:36:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:36:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/11 00:36:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True
+[05/11 00:36:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.355[m] 86.191[deg]
+[05/11 00:36:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:37:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:38:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:38:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:38:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:38:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:38:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
+[05/11 00:38:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.418s, found feasible grasp: True
+[05/11 00:38:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.217[deg]
+[05/11 00:38:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:38:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:38:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:38:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:38:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
+[05/11 00:38:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:38:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:38:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049728m
+[05/11 00:38:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:38:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:38:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:38:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6620719   0.61116951  0.04972796] yaw=-162.0deg
+[05/11 00:38:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:38:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6748658   0.6162039   0.04972796] yaw=-167.1deg
+[05/11 00:38:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:38:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:38:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:38:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.3ms
+[05/11 00:38:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.611, 0.050)
+[05/11 00:38:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
+[05/11 00:38:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.048m
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:38:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:38:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/11 00:38:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/11 00:38:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:38:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:38:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/11 00:38:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True
+[05/11 00:38:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.601[m] 85.943[deg]
+[05/11 00:38:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:39:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:39:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:39:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:41:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:41:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:41:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 00:41:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:41:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:41:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:41:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.88s (batch: 4.27s, save: 9.61s)
+[05/11 00:41:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.44s:
+  episode_total: mean=163.16s, total=326.32s, count=2, min=118299.9ms, max=208022.8ms
+  sensor_polling: mean=525.8ms, total=255.01s, count=485, min=441.3ms, max=1092.0ms
+  physics_step: mean=24.6ms, total=11.95s, count=485, min=15.4ms, max=132.9ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9613.9ms, max=9613.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.6ms, max=4269.6ms
+  task_sampling: mean=722.3ms, total=1.44s, count=2, min=519.7ms, max=924.9ms
+  task_specific_sample: mean=718.5ms, total=1.44s, count=2, min=516.5ms, max=920.5ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=479.0us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.3us, 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
+[05/11 00:41:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:41:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:41:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:41:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/11 00:41:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:41:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:41:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027709m
+[05/11 00:41:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:41:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:41:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00318048  1.01292841  0.0277086 ] yaw=-145.8deg
+[05/11 00:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64626573  0.31438186  0.0277086 ] yaw=175.8deg
+[05/11 00:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.701376    0.58884135  0.0277086 ] yaw=-177.8deg
+[05/11 00:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:41:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:41:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=502.4ms, total=502.5ms
+[05/11 00:41:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.013, 0.028)
+[05/11 00:41:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg
+[05/11 00:41:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:41:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:41:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/11 00:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/11 00:41:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:41:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:41:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/11 00:41:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True
+[05/11 00:41:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.126[deg]
+[05/11 00:41:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:44:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:45:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:45:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 00:45:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:45:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:45:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:45:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 4.82s, save: 9.54s)
+[05/11 00:45:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.79s:
+  episode_total: mean=209.38s, total=209.38s, count=1, min=209384.5ms, max=209384.5ms
+  sensor_polling: mean=517.7ms, total=155.30s, count=300, min=434.7ms, max=1047.5ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9537.6ms, max=9537.6ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.0ms, max=131.7ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.6ms, max=4823.6ms
+  task_sampling: mean=794.3ms, total=794.3ms, count=1, min=794.3ms, max=794.3ms
+  task_specific_sample: mean=790.0ms, total=790.0ms, count=1, min=790.0ms, max=790.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=536.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:45:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:45:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:45:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:45:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/11 00:45:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:45:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:45:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069934m
+[05/11 00:45:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:45:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:45:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:45:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94098893  0.67006087  0.06993384] yaw=-159.3deg
+[05/11 00:45:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:45:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94263695  0.93391546  0.06993384] yaw=-138.1deg
+[05/11 00:45:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:45:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:45:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95753268  0.6355937   0.06993384] yaw=-166.0deg
+[05/11 00:45:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:45:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:45:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms
+[05/11 00:45:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.670, 0.070)
+[05/11 00:45:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.3 deg
+[05/11 00:45:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:45:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:45:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:45:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/11 00:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/11 00:45:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:45:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:45:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/11 00:45:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True
+[05/11 00:45:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.335[m] 87.337[deg]
+[05/11 00:45:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:46:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:46:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:48:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:48:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:48:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 00:48:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
+[05/11 00:48:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:48:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:48:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.18s (batch: 4.51s, save: 8.67s)
+[05/11 00:48:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=198.10s, total=198.10s, count=1, min=198096.4ms, max=198096.4ms
+  sensor_polling: mean=516.1ms, total=148.63s, count=288, min=440.6ms, max=822.1ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8669.0ms, max=8669.0ms
+  physics_step: mean=25.2ms, total=7.25s, count=288, min=14.8ms, max=58.5ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4508.3ms, max=4508.3ms
+  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
+  task_specific_sample: mean=470.7ms, total=470.7ms, count=1, min=470.7ms, max=470.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:48:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:48:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:48:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:48:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/11 00:48:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:48:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:48:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061277m
+[05/11 00:48:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:48:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:48:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95067     0.4779803   0.06127664] yaw=180.6deg
+[05/11 00:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69789322  0.27156207  0.06127664] yaw=168.6deg
+[05/11 00:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66926416  0.85339012  0.06127664] yaw=-164.0deg
+[05/11 00:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:48:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:48:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=546.5ms, total=546.5ms
+[05/11 00:48:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.478, 0.061)
+[05/11 00:48:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.6 deg
+[05/11 00:48:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:48:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:48:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/11 00:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
+[05/11 00:48:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:48:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:48:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/11 00:48:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True
+[05/11 00:48:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.285[m] 90.192[deg]
+[05/11 00:48:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:49:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:49:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:51:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:51:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:51:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 00:51:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 278 timesteps
+[05/11 00:51:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:51:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:51:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.06s (batch: 4.18s, save: 10.88s)
+[05/11 00:52:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.85s:
+  episode_total: mean=201.34s, total=201.34s, count=1, min=201337.3ms, max=201337.3ms
+  sensor_polling: mean=531.8ms, total=147.30s, count=277, min=451.0ms, max=1004.3ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10880.1ms, max=10880.1ms
+  physics_step: mean=28.0ms, total=7.76s, count=277, min=18.1ms, max=69.6ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4183.1ms, max=4183.1ms
+  task_sampling: mean=853.0ms, total=853.0ms, count=1, min=853.0ms, max=853.0ms
+  task_specific_sample: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=887.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 00:52:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
+[05/11 00:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066349m
+[05/11 00:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:52:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91207555  0.26156429  0.0663489 ] yaw=167.2deg
+[05/11 00:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84854508  0.12651558  0.0663489 ] yaw=146.2deg
+[05/11 00:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81526875  0.25258478  0.0663489 ] yaw=173.5deg
+[05/11 00:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:52:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:52:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=620.4ms, total=620.5ms
+[05/11 00:52:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.262, 0.066)
+[05/11 00:52:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg
+[05/11 00:52:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
+[05/11 00:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:52:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:52:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/11 00:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.150s
+[05/11 00:52:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:52:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:52:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/11 00:52:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True
+[05/11 00:52:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.386[m] 89.506[deg]
+[05/11 00:52:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:52:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:52:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:52:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:53:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:53:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 00:53:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 00:53:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 00:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 00:53:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 00:53:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 00:54:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 00:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.456s, found feasible grasp: True
+[05/11 00:54:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.169[deg]
+[05/11 00:54:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/11 00:54:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:54:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:54:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:54:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/11 00:54:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:54:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:54:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022520m
+[05/11 00:54:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:54:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:54:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92858926  1.04154216  0.02251965] yaw=-134.7deg
+[05/11 00:54:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:54:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:54:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:54:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.8ms, total=296.9ms
+[05/11 00:54:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.042, 0.023)
+[05/11 00:54:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg
+[05/11 00:54:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:54:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:54:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:54:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/11 00:54:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/11 00:54:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:54:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:54:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/11 00:54:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: True
+[05/11 00:54:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.551[m] 89.450[deg]
+[05/11 00:54:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:54:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:54:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:55:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/11 00:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 00:56:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:56:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:56:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/11 00:56:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.463s, found feasible grasp: True
+[05/11 00:56:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.618[deg]
+[05/11 00:56:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:56:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:56:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 00:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/11 00:57:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:57:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 00:57:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 00:57:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 00:57:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 00:57:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.93s (batch: 4.37s, save: 8.56s)
+[05/11 00:57:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s:
+  episode_total: mean=165.73s, total=331.46s, count=2, min=122219.1ms, max=209240.9ms
+  sensor_polling: mean=535.1ms, total=261.13s, count=488, min=444.7ms, max=1032.6ms
+  physics_step: mean=24.8ms, total=12.08s, count=488, min=15.1ms, max=98.5ms
+  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8561.6ms, max=8561.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4368.9ms, max=4368.9ms
+  task_sampling: mean=776.2ms, total=1.55s, count=2, min=632.5ms, max=920.0ms
+  task_specific_sample: mean=772.3ms, total=1.54s, count=2, min=629.0ms, max=915.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=480.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/11 00:57:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 00:57:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:57:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 00:57:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/11 00:57:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 00:57:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 00:57:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022112m
+[05/11 00:57:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 00:57:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 00:57:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:57:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 00:57:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87970226  0.77682183  0.02211193] yaw=-161.8deg
+[05/11 00:57:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 00:57:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64175594  0.73723587  0.02211193] yaw=-173.7deg
+[05/11 00:57:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 00:57:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74451428  0.45632229  0.02211193] yaw=174.9deg
+[05/11 00:57:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 00:57:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 00:57:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.8ms
+[05/11 00:57:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.777, 0.022)
+[05/11 00:57:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg
+[05/11 00:57:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.874m
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 00:57:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 00:57:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 00:57:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/11 00:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/11 00:57:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 00:57:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 00:57:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/11 00:57:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True
+[05/11 00:57:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 89.653[deg]
+[05/11 00:57:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 00:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 00:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 00:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 00:58:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 00:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:00:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/11 01:00:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:00:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 01:00:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 01:01:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 01:01:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:01:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.65s (batch: 5.21s, save: 9.43s)
+[05/11 01:01:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
+  episode_total: mean=209.63s, total=209.63s, count=1, min=209625.9ms, max=209625.9ms
+  sensor_polling: mean=531.0ms, total=159.30s, count=300, min=445.3ms, max=930.9ms
+  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9432.8ms, max=9432.8ms
+  physics_step: mean=25.7ms, total=7.71s, count=300, min=15.8ms, max=83.4ms
+  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5214.6ms, max=5214.6ms
+  task_sampling: mean=493.8ms, total=493.8ms, count=1, min=493.8ms, max=493.8ms
+  task_specific_sample: mean=489.8ms, total=489.8ms, count=1, min=489.8ms, max=489.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=432.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/11 01:01:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 01:01:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:01:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 01:01:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/11 01:01:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 01:01:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 01:01:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094954m
+[05/11 01:01:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 01:01:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 01:01:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:01:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74883115  0.31468155  0.09495364] yaw=169.0deg
+[05/11 01:01:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 01:01:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 01:01:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=399.8ms, total=399.8ms
+[05/11 01:01:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.315, 0.095)
+[05/11 01:01:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg
+[05/11 01:01:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:01:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:01:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 01:01:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/11 01:01:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
+[05/11 01:01:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:01:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:01:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/11 01:01:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.979s, found feasible grasp: True
+[05/11 01:01:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.482[m] 85.427[deg]
+[05/11 01:01:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:01:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:01:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:02:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:02:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/11 01:03:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/11 01:03:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/11 01:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/11 01:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/11 01:03:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/11 01:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/11 01:03:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 01:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/11 01:03:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:03:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:03:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
+[05/11 01:03:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True
+[05/11 01:03:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.662[deg]
+[05/11 01:03:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/11 01:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 01:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/11 01:04:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:04:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:04:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/11 01:04:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True
+[05/11 01:04:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.641[deg]
+[05/11 01:04:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:10
+[05/11 01:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/11 01:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/11 01:04:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:04:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:04:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps
+[05/11 01:04:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.397s, found feasible grasp: True
+[05/11 01:04:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.632[deg]
+[05/11 01:04:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:04:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:04:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:04:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/11 01:04:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:04:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes
+[05/11 01:04:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/11 01:05:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/11 01:05:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012
+[05/11 01:05:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.87s (batch: 5.15s, save: 11.72s)
+[05/11 01:05:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
+  episode_total: mean=235.28s, total=235.28s, count=1, min=235276.9ms, max=235276.9ms
+  sensor_polling: mean=550.3ms, total=165.08s, count=300, min=467.2ms, max=953.5ms
+  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11722.2ms, max=11722.2ms
+  physics_step: mean=28.4ms, total=8.52s, count=300, min=16.1ms, max=96.1ms
+  save_batch_prep: mean=5.15s, total=5.15s, count=1, min=5148.9ms, max=5148.9ms
+  task_sampling: mean=754.0ms, total=754.0ms, count=1, min=754.0ms, max=754.0ms
+  task_specific_sample: mean=748.6ms, total=748.6ms, count=1, min=748.6ms, max=748.6ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=712.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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
+[05/11 01:05:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/11 01:05:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:05:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/11 01:05:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
+[05/11 01:05:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/11 01:05:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/11 01:05:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065164m
+[05/11 01:05:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/11 01:05:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/11 01:05:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/11 01:05:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:05:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95275879  0.56732967  0.06516449] yaw=-167.9deg
+[05/11 01:05:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/11 01:05:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:05:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/11 01:05:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08313551  1.23266603  0.06516449] yaw=-121.9deg
+[05/11 01:05:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/11 01:05:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68954507  0.69903309  0.06516449] yaw=-165.3deg
+[05/11 01:05:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/11 01:05:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/11 01:05:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms
+[05/11 01:05:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.567, 0.065)
+[05/11 01:05:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.9 deg
+[05/11 01:05:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.754m
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/11 01:05:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/11 01:05:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/11 01:05:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/11 01:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/11 01:05:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/11 01:05:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/11 01:05:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/11 01:05:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.582s, found feasible grasp: True
+[05/11 01:05:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 93.092[deg]
+[05/11 01:05:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/11 01:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/11 01:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/11 01:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/11 01:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/11 01:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
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