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+05/14 23:58:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 23:58:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 23:58:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 23:58:39 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                'name': 'wrist_camera',
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+                                'record_depth': True,
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+                                'name': 'exo_camera_1',
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+                                '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,
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+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
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+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
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+                                500.000000000004,
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+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
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+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
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+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80403,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
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+                 'articulation_object_name': None,
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+                 'joint_goal_position': None,
+                 'joint_index': 0,
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+                 'referral_expressions_priority': {},
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+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
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+                 'tracked_object_names': None,
+                 'use_sensors': True},
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+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
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+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ '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]
+05/14 23:58:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 23:58:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 23:58:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 23:58:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 23:58:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 23:58:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 23:58:39 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304'),
+ '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 0x78e64fe6b790>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80402,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ '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]
+05/14 23:58:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 23:58:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 23:58:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 23:58:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 23:58:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 23:58:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 23:58:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 23:58:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 23:58:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 23:58:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 23:58:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 23:58:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:58:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:58:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:58:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:58:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:58:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012362m	[env.py: 870]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:58:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 23:58:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 23:58:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 23:58:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:58:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:58:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:58:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:58:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:58:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.077m, effective arm-mount z=0.783m (base_body_z=-0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077082m	[env.py: 870]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:58:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.44781964 -0.22217884 -0.01236158] yaw=-118.5deg	[env.py: 1019]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33028898  0.00114252 -0.07708204] yaw=-118.0deg	[env.py: 1019]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22994906 -0.49551901 -0.01236158] yaw=-155.6deg	[env.py: 1019]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19016064 -0.45735938 -0.07708204] yaw=-130.6deg	[env.py: 1019]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:58:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.8ms, retries=219.6ms, total=234.4ms	[env.py: 1075]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.448, -0.222, -0.012)	[env.py: 1079]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.5 deg	[env.py: 1082]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.34829527 -0.30100693 -0.07708204] yaw=-138.3deg	[env.py: 1019]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:58:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=43.3ms, retries=201.5ms, total=244.8ms	[env.py: 1075]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, 0.001, -0.077)	[env.py: 1079]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.0 deg	[env.py: 1082]
+05/14 23:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.105m	[env.py: 1086]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:58:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:58:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:58:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:58:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:58:45 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 23:58:45 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 23:58:45 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 23:58:45 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304'),
+ '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 0x7d5fbe368f10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80401,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 3,
+ '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]
+05/14 23:58:45 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]
+05/14 23:58:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 23:58:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 23:58:45 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 23:58:47 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 23:58:47 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 23:58:47 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 23:58:47 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 23:58:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:58:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:58:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:58:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:58:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:58:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000648m	[env.py: 870]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:58:47 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.56562113 -0.07425672  0.0006479 ] yaw=-107.3deg	[env.py: 1019]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-2.81193571e-01 -1.23713612e+00  6.47897831e-04] yaw=150.1deg	[env.py: 1019]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23747223 -0.08987616  0.0006479 ] yaw=-146.1deg	[env.py: 1019]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:58:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=15.0ms, retries=143.1ms, total=158.1ms	[env.py: 1075]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.566, -0.074, 0.001)	[env.py: 1079]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.3 deg	[env.py: 1082]
+05/14 23:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:58:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:58:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:58:47 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:59:10 INFO: [Worker 0] Warmed up parallel IK solver in 27.812s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:59:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:59:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:59:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:59:11 INFO: [Worker 0] Warmed up parallel IK solver in 28.309s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:59:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:59:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:59:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:59:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:59:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 114.083[deg]	[grasp_sample.py: 539]
+05/14 23:59:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:59:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:59:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:59:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:59:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.191s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:59:13 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:59:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:59:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:59:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:59:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:59:15 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: 195]
+05/14 23:59:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:59:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035429m	[env.py: 870]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:59:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20611355 -1.01276463 -0.03542869] yaw=173.8deg	[env.py: 1019]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.00565326 -0.58551953 -0.03542869] yaw=-145.4deg	[env.py: 1019]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07750957 -0.54652135 -0.03542869] yaw=-139.3deg	[env.py: 1019]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:59:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.6ms, total=173.6ms	[env.py: 1075]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.206, -1.013, -0.035)	[env.py: 1079]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
+05/14 23:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:59:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:59:15 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:59:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:59:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:59:15 INFO: [Worker 0] Warmed up parallel IK solver in 28.254s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:59:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:59:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:59:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:59:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.524[m] 78.469[deg]	[grasp_sample.py: 539]
+05/14 23:59:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:59:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:59:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:59:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:59:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.312s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:59:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.544[m] 82.636[deg]	[grasp_sample.py: 539]
+05/14 23:59:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:59:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:59:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:59:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:00:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:00:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:00:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:00:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:00:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:00:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:00:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:00:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:01:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:01:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:01:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:01:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:01:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:01:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:01:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.224[deg]	[grasp_sample.py: 539]
+05/15 00:01:13 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:01:14 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:01:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:01:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:01:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:01:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:01:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020591m	[env.py: 870]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.8ms, total=204.9ms	[env.py: 1105]
+05/15 00:01:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 00:01:15 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 00:01:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:01:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:01:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:01:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:01:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:01:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:01:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070804m	[env.py: 870]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:01:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19079896 -0.83661906  0.07080396] yaw=168.8deg	[env.py: 1019]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10697775 -0.58418575  0.07080396] yaw=-152.8deg	[env.py: 1019]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.39618998 -0.27114189  0.07080396] yaw=-132.2deg	[env.py: 1019]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.3ms, total=160.3ms	[env.py: 1075]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.191, -0.837, 0.071)	[env.py: 1079]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
+05/15 00:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:01:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:01:17 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:01:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:01:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:01:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:01:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:01:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:01:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 84.428[deg]	[grasp_sample.py: 539]
+05/15 00:01:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:01:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:01:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:01:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:01:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:01:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:01:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:01:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:01:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:01:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:01:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:01:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:01:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:01:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.81s (batch: 3.05s, save: 8.76s)	[pipeline.py: 300]
+05/15 00:01:43 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.01s:
+  episode_total: mean=183.80s, total=183.80s, count=1, min=183797.4ms, max=183797.4ms
+  sensor_polling: mean=375.6ms, total=112.67s, count=300, min=293.2ms, max=552.2ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8755.8ms, max=8755.8ms
+  physics_step: mean=21.9ms, total=6.57s, count=300, min=17.3ms, max=27.6ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3049.9ms, max=3049.9ms
+  task_sampling: mean=3.01s, total=3.01s, count=1, min=3012.2ms, max=3012.2ms
+  scene_load: mean=2.55s, total=2.55s, count=1, min=2554.2ms, max=2554.2ms
+  scene_env_create: mean=1.54s, total=1.54s, count=1, min=1543.2ms, max=1543.2ms
+  scene_compile: mean=893.6ms, total=893.6ms, count=1, min=893.6ms, max=893.6ms
+  compile_mujoco: mean=622.3ms, total=622.3ms, count=1, min=622.3ms, max=622.3ms
+  task_specific_sample: mean=455.4ms, total=455.4ms, count=1, min=455.4ms, max=455.4ms
+  compile_xml_load: mean=204.4ms, total=204.4ms, count=1, min=204.4ms, max=204.4ms
+  scene_init: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  scene_asset_install: mean=41.8ms, total=41.8ms, count=1, min=41.8ms, max=41.8ms
+  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
+  asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=335.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=42.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:01:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:01:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:01:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:01:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:01:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:01:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:01:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:01:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:01:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094702m	[env.py: 870]
+05/15 00:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:01:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:01:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 142.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10910352 -0.35064346  0.09470173] yaw=-133.7deg	[env.py: 1019]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10433395 -0.62921546  0.09470173] yaw=-172.9deg	[env.py: 1019]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.44501111 -0.25949537  0.09470173] yaw=-140.6deg	[env.py: 1019]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:01:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=435.5ms, total=435.6ms	[env.py: 1075]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.109, -0.351, 0.095)	[env.py: 1079]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
+05/15 00:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/15 00:01:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:01:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:01:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:01:45 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:01:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:01:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:01:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:01:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:01:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.465s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:01:49 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.832[m] 138.655[deg]	[grasp_sample.py: 539]
+05/15 00:01:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:01:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:01:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:01:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:01:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:01:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:01:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 13.57s (batch: 3.69s, save: 9.87s)	[pipeline.py: 300]
+05/15 00:01:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.60s:
+  episode_total: mean=97.90s, total=195.80s, count=2, min=33730.8ms, max=162073.1ms
+  sensor_polling: mean=400.3ms, total=120.10s, count=300, min=303.4ms, max=625.9ms
+  save_trajectories: mean=9.87s, total=9.87s, count=1, min=9873.6ms, max=9873.6ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=17.3ms, max=34.7ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3692.1ms, max=3692.1ms
+  task_sampling: mean=1.80s, total=3.60s, count=2, min=445.0ms, max=3158.7ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2697.8ms, max=2697.8ms
+  scene_env_create: mean=1.56s, total=1.56s, count=1, min=1555.5ms, max=1555.5ms
+  scene_compile: mean=1.02s, total=1.02s, count=1, min=1024.8ms, max=1024.8ms
+  task_specific_sample: mean=449.6ms, total=899.2ms, count=2, min=441.5ms, max=457.7ms
+  compile_mujoco: mean=629.0ms, total=629.0ms, count=1, min=629.0ms, max=629.0ms
+  compile_xml_load: mean=328.8ms, total=328.8ms, count=1, min=328.8ms, max=328.8ms
+  scene_init: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  compile_aux_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_aux_policy_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  scene_asset_install: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  asset_install_grasps: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.4ms, max=1.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=512.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=34.5us, 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]
+05/15 00:01:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:01:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:01:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:01:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:01:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:01:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:01:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.090840m	[env.py: 870]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:01:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14642232 -1.25185635 -0.09083977] yaw=169.1deg	[env.py: 1019]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15797081 -0.86173356 -0.09083977] yaw=164.9deg	[env.py: 1019]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00119278 -0.46369551 -0.09083977] yaw=-138.8deg	[env.py: 1019]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:02:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=369.0ms, total=369.0ms	[env.py: 1075]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.146, -1.252, -0.091)	[env.py: 1079]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/15 00:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/15 00:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:02:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:02:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:02:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:02:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:02:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:02:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:02:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.155s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:02:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.606[m] 95.188[deg]	[grasp_sample.py: 539]
+05/15 00:02:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:02:05 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:02:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:02:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:02:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:02:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:02:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:02:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:02:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051632m	[env.py: 870]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:02:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.58889577 -0.13998693 -0.05163246] yaw=-149.4deg	[env.py: 1019]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.32370859 -1.10290442 -0.05163246] yaw=151.6deg	[env.py: 1019]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2626461  -0.38349602 -0.05163246] yaw=-144.5deg	[env.py: 1019]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:02:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.1ms	[env.py: 1075]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.589, -0.140, -0.052)	[env.py: 1079]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
+05/15 00:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:02:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:02:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:02:07 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:02:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:02:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:02:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:02:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:02:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:02:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 110.593[deg]	[grasp_sample.py: 539]
+05/15 00:02:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:02:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:02:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:02:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:02:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:02:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:03:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:03:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:03:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:03:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:03:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.118[m] 2.624[deg]	[grasp_sample.py: 539]
+05/15 00:03:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:03:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:03:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:26 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:03:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:03:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:03:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:03:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:03:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:03:42 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:03:42 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.114[m] 1.966[deg]	[grasp_sample.py: 539]
+05/15 00:03:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:03:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:03:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:43 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:03:43 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.66s:
+  episode_total: mean=118.99s, total=118.99s, count=1, min=118986.4ms, max=118986.4ms
+  sensor_polling: mean=349.7ms, total=104.91s, count=300, min=285.0ms, max=734.0ms
+  physics_step: mean=20.0ms, total=6.00s, count=300, min=15.1ms, max=27.4ms
+  task_sampling: mean=655.2ms, total=655.2ms, count=1, min=655.2ms, max=655.2ms
+  task_specific_sample: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=359.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:03:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:03:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:03:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:03:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:03:45 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: 195]
+05/15 00:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037219m	[env.py: 870]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12397346 -0.26411684 -0.03721887] yaw=-148.5deg	[env.py: 1019]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 140.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.36897495 -0.17016994 -0.03721887] yaw=-164.7deg	[env.py: 1019]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.45952423 -0.19032439 -0.03721887] yaw=-106.3deg	[env.py: 1019]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.5ms, total=221.6ms	[env.py: 1075]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.124, -0.264, -0.037)	[env.py: 1079]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg	[env.py: 1082]
+05/15 00:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:03:45 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:03:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:03:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:03:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:03:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.144s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:03:49 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.581[m] 87.046[deg]	[grasp_sample.py: 539]
+05/15 00:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:50 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:03:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:03:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:03:51 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: 195]
+05/15 00:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:03:51 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: 273]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047452m	[env.py: 870]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07448493 -0.35900852  0.04745175] yaw=-154.3deg	[env.py: 1019]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11737445 -1.17952796  0.04745175] yaw=145.5deg	[env.py: 1019]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04516274 -0.56337269  0.04745175] yaw=-145.7deg	[env.py: 1019]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.2ms	[env.py: 1075]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.074, -0.359, 0.047)	[env.py: 1079]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg	[env.py: 1082]
+05/15 00:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:03:51 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:03:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:03:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:03:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:03:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:03:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:03:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:03:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:03:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:03:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:03:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:03:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.668[m] 79.732[deg]	[grasp_sample.py: 539]
+05/15 00:03:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:03:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:03:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:03:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:03:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:03:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.116[m] 8.050[deg]	[grasp_sample.py: 539]
+05/15 00:03:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:03:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:03:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.87s (batch: 2.87s, save: 9.01s)	[pipeline.py: 300]
+05/15 00:03:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:03:57 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=2.93s:
+  episode_total: mean=103.11s, total=309.32s, count=3, min=214.2ms, max=161085.4ms
+  sensor_polling: mean=389.5ms, total=204.85s, count=526, min=280.7ms, max=702.3ms
+  physics_step: mean=22.1ms, total=11.61s, count=526, min=13.4ms, max=30.7ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9008.2ms, max=9008.2ms
+  task_sampling: mean=1.47s, total=2.93s, count=2, min=352.8ms, max=2581.2ms
+  save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2865.8ms, max=2865.8ms
+  scene_load: mean=2.22s, total=2.22s, count=1, min=2216.7ms, max=2216.7ms
+  scene_env_create: mean=1.33s, total=1.33s, count=1, min=1332.4ms, max=1332.4ms
+  task_specific_sample: mean=307.4ms, total=922.3ms, count=3, min=210.0ms, max=362.1ms
+  scene_compile: mean=763.2ms, total=763.2ms, count=1, min=763.2ms, max=763.2ms
+  compile_mujoco: mean=567.7ms, total=567.7ms, count=1, min=567.7ms, max=567.7ms
+  task_sampling_failed: mean=214.2ms, total=214.2ms, count=1, min=214.2ms, max=214.2ms
+  compile_xml_load: mean=134.2ms, total=134.2ms, count=1, min=134.2ms, max=134.2ms
+  scene_init: mean=74.6ms, total=74.6ms, count=1, min=74.6ms, max=74.6ms
+  scene_asset_install: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  asset_install_grasps: mean=32.2ms, total=32.2ms, count=1, min=32.2ms, max=32.2ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  compile_robot_add: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.7ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=398.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:03:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:03:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:03:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:03:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:03:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:03:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024412m	[env.py: 870]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:03:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12268251 -0.82998922 -0.02441189] yaw=183.6deg	[env.py: 1019]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04741702 -1.32420183 -0.02441189] yaw=163.1deg	[env.py: 1019]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04884292 -1.03706555 -0.02441189] yaw=184.9deg	[env.py: 1019]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:03:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.0ms, total=125.1ms	[env.py: 1075]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.123, -0.830, -0.024)	[env.py: 1079]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg	[env.py: 1082]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.197m	[env.py: 1086]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:03:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:03:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:03:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:03:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:03:59 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: 273]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047026m	[env.py: 870]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:03:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06171011 -0.88310894  0.04702635] yaw=189.4deg	[env.py: 1019]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.51054007 -0.1105937   0.04702635] yaw=-108.1deg	[env.py: 1019]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 138.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:03:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:03:59 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.1971457  -0.57495307  0.04702635] yaw=-174.4deg	[env.py: 1019]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:03:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.0ms, total=157.1ms	[env.py: 1075]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.062, -0.883, 0.047)	[env.py: 1079]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.4 deg	[env.py: 1082]
+05/15 00:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.138m	[env.py: 1086]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:03:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:04:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:04:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:04:00 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:04:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:04:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:04:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:04:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:04:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.075s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:04:02 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:04:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.978s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:04:02 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:04:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:04:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:04:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:04:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073496m	[env.py: 870]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29502848 -0.45228203  0.07349566] yaw=-145.3deg	[env.py: 1019]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11536685 -0.10469711  0.07349566] yaw=-128.0deg	[env.py: 1019]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0342798  -1.2252628   0.07349566] yaw=178.1deg	[env.py: 1019]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.0ms, total=89.1ms	[env.py: 1075]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -0.452, 0.073)	[env.py: 1079]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg	[env.py: 1082]
+05/15 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:04:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:04:03 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:04:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:04:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:04:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:04:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:04:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:04:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:04:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:04:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:04:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:04:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:04:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026511m	[env.py: 870]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:04:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12118584 -0.76659408  0.02651114] yaw=-162.1deg	[env.py: 1019]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:04:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.4ms	[env.py: 1075]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -0.767, 0.027)	[env.py: 1079]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg	[env.py: 1082]
+05/15 00:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:04:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:04:04 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:04:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:04:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:04:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.959s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:04:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.528[m] 86.862[deg]	[grasp_sample.py: 539]
+05/15 00:04:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:04:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:04:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:04:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:04:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.631[m] 51.710[deg]	[grasp_sample.py: 539]
+05/15 00:04:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:04:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:04:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:04:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:04:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:04:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:04:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:04:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:04:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:04:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:04:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:04:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:04:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:05:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:05:49 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:05:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:06:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:06:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:06:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:06:16 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:06:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:06:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:06:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.73s (batch: 3.39s, save: 8.34s)	[pipeline.py: 300]
+05/15 00:06:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:06:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:06:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:06:17 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.70s:
+  episode_total: mean=62.99s, total=251.97s, count=4, min=2489.9ms, max=133638.4ms
+  sensor_polling: mean=335.2ms, total=184.05s, count=549, min=288.4ms, max=707.1ms
+  physics_step: mean=19.7ms, total=10.79s, count=549, min=14.3ms, max=27.2ms
+  save_trajectories: mean=8.34s, total=8.34s, count=1, min=8338.8ms, max=8338.8ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3389.9ms, max=3389.9ms
+  task_sampling: mean=425.9ms, total=1.70s, count=4, min=305.6ms, max=621.2ms
+  task_specific_sample: mean=421.2ms, total=1.68s, count=4, min=299.9ms, max=616.5ms
+  scene_randomize: mean=2.4ms, total=9.5ms, count=4, min=1.5ms, max=3.1ms
+  mj_forward_sync: mean=532.1us, total=2.1ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=27.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:06:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:06:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:06:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:06:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:06:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:06:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:06:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069500m	[env.py: 870]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:06:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.21364183 -0.49024461  0.06949955] yaw=-176.6deg	[env.py: 1019]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.37791609 -0.25078331  0.06949955] yaw=-137.9deg	[env.py: 1019]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.57153464 -0.18456624  0.06949955] yaw=-154.5deg	[env.py: 1019]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:06:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.4ms, total=237.4ms	[env.py: 1075]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.214, -0.490, 0.069)	[env.py: 1079]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg	[env.py: 1082]
+05/15 00:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:06:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:06:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:06:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:06:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:06:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 77.529[deg]	[grasp_sample.py: 539]
+05/15 00:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:06:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:06:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:06:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:06:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:06:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.69s (batch: 2.72s, save: 8.97s)	[pipeline.py: 300]
+05/15 00:06:29 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.78s:
+  episode_total: mean=81.51s, total=163.02s, count=2, min=4702.1ms, max=158314.5ms
+  sensor_polling: mean=386.5ms, total=115.94s, count=300, min=286.2ms, max=665.3ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8966.7ms, max=8966.7ms
+  physics_step: mean=22.6ms, total=6.78s, count=300, min=14.1ms, max=28.9ms
+  save_batch_prep: mean=2.72s, total=2.72s, count=1, min=2723.2ms, max=2723.2ms
+  task_sampling: mean=388.0ms, total=776.0ms, count=2, min=360.7ms, max=415.3ms
+  task_specific_sample: mean=384.6ms, total=769.2ms, count=2, min=357.5ms, max=411.7ms
+  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=411.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, 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]
+05/15 00:06:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:06:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:06:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:06:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:06:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:06:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:06:31 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: 273]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042811m	[env.py: 870]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:06:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08413235 -0.77132419  0.0428106 ] yaw=-175.7deg	[env.py: 1019]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2444554  -0.21544547  0.0428106 ] yaw=-122.1deg	[env.py: 1019]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:06:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=320.8ms, total=320.8ms	[env.py: 1075]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -0.771, 0.043)	[env.py: 1079]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
+05/15 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:06:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:06:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:06:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:06:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:06:31 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:06:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:06:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:06:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:06:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:06:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:06:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.525[m] 83.492[deg]	[grasp_sample.py: 539]
+05/15 00:06:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:06:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:06:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:06:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:06:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:06:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:06:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.72s (batch: 2.60s, save: 9.12s)	[pipeline.py: 300]
+05/15 00:06:44 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.69s:
+  episode_total: mean=81.63s, total=163.26s, count=2, min=2671.9ms, max=160584.8ms
+  sensor_polling: mean=405.4ms, total=121.62s, count=300, min=304.3ms, max=720.6ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.3ms, max=9118.3ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=17.4ms, max=31.0ms
+  save_batch_prep: mean=2.60s, total=2.60s, count=1, min=2603.8ms, max=2603.8ms
+  task_sampling: mean=344.1ms, total=688.2ms, count=2, min=287.5ms, max=400.7ms
+  task_specific_sample: mean=338.8ms, total=677.6ms, count=2, min=283.9ms, max=393.7ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
+  mj_forward_sync: mean=492.3us, total=1.0ms, count=2, min=0.4ms, 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]
+05/15 00:06:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:06:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:06:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:06:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:06:45 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: 195]
+05/15 00:06:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:06:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099019m	[env.py: 870]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:06:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25777849 -1.17842558 -0.09901901] yaw=158.1deg	[env.py: 1019]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 135.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.12515283 -1.19473817 -0.09901901] yaw=131.1deg	[env.py: 1019]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:06:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=469.5ms, total=469.6ms	[env.py: 1075]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.258, -1.178, -0.099)	[env.py: 1079]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.1 deg	[env.py: 1082]
+05/15 00:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:06:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:06:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:06:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:06:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:06:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:06:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:06:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:06:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.529[m] 83.549[deg]	[grasp_sample.py: 539]
+05/15 00:06:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:06:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:06:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:06:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:06:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:06:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:06:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:07:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:07:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:07:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:07:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:07:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:08:04 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:08:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:08:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:08:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:08:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:08:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:08:18 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.299[deg]	[grasp_sample.py: 539]
+05/15 00:08:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:08:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:08:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:08:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:08:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:08:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:08:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:08:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:08:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:08:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:08:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.04s (batch: 3.41s, save: 8.63s)	[pipeline.py: 300]
+05/15 00:08:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.52s:
+  episode_total: mean=133.64s, total=133.64s, count=1, min=133642.1ms, max=133642.1ms
+  sensor_polling: mean=320.0ms, total=95.99s, count=300, min=292.9ms, max=623.1ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8633.8ms, max=8633.8ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=17.2ms, max=49.4ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3408.8ms, max=3408.8ms
+  task_sampling: mean=523.5ms, total=523.5ms, count=1, min=523.5ms, max=523.5ms
+  task_specific_sample: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=418.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:08:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:08:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:08:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:08:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:08:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:08:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:08:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:08:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:08:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007866m	[env.py: 870]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:08:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.26286052 -1.17988546 -0.00786636] yaw=133.6deg	[env.py: 1019]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.25728018 -1.09166469 -0.00786636] yaw=187.8deg	[env.py: 1019]
+05/15 00:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:08:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.4ms, total=243.4ms	[env.py: 1075]
+05/15 00:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.263, -1.180, -0.008)	[env.py: 1079]
+05/15 00:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.6 deg	[env.py: 1082]
+05/15 00:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/15 00:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:08:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:08:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:08:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:08:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:08:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:08:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:08:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:08:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:08:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.611[m] 80.584[deg]	[grasp_sample.py: 539]
+05/15 00:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:08:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:08:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:08:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:08:50 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:08:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:09:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:09:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:09:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:09:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:09:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:09:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:09:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:09:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:09:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:09:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.24s (batch: 2.87s, save: 8.37s)	[pipeline.py: 300]
+05/15 00:09:18 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
+  episode_total: mean=166.80s, total=166.80s, count=1, min=166795.4ms, max=166795.4ms
+  sensor_polling: mean=377.5ms, total=113.24s, count=300, min=288.9ms, max=654.2ms
+  save_trajectories: mean=8.37s, total=8.37s, count=1, min=8372.5ms, max=8372.5ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=16.8ms, max=87.8ms
+  save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2869.8ms, max=2869.8ms
+  task_sampling: mean=531.4ms, total=531.4ms, count=1, min=531.4ms, max=531.4ms
+  task_specific_sample: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=525.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:09:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:09:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:09:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:09:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:09:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:09:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.058801m	[env.py: 870]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:09:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11538857 -0.5842762  -0.05880099] yaw=-157.4deg	[env.py: 1019]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11341295 -1.09035886 -0.05880099] yaw=190.6deg	[env.py: 1019]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.41818833 -0.18521294 -0.05880099] yaw=-143.3deg	[env.py: 1019]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:09:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.7ms, total=283.7ms	[env.py: 1075]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.115, -0.584, -0.059)	[env.py: 1079]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
+05/15 00:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:09:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:09:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:09:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:09:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:09:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:09:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.574[m] 57.329[deg]	[grasp_sample.py: 539]
+05/15 00:09:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:09:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:09:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:09:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:09:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:09:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:09:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:09:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 15.19s (batch: 4.89s, save: 10.30s)	[pipeline.py: 300]
+05/15 00:09:29 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.69s:
+  episode_total: mean=164.67s, total=164.67s, count=1, min=164669.4ms, max=164669.4ms
+  sensor_polling: mean=406.9ms, total=122.06s, count=300, min=295.7ms, max=750.1ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10302.9ms, max=10302.9ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.4ms, max=31.0ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4887.2ms, max=4887.2ms
+  task_sampling: mean=689.2ms, total=689.2ms, count=1, min=689.2ms, max=689.2ms
+  task_specific_sample: mean=685.5ms, total=685.5ms, count=1, min=685.5ms, max=685.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=412.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:09:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:09:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:09:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:09:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:09:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:09:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039573m	[env.py: 870]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:09:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.17552295 -1.14930476  0.03957257] yaw=136.8deg	[env.py: 1019]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03715902 -1.25953751  0.03957257] yaw=153.3deg	[env.py: 1019]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.40775499 -0.09429995  0.03957257] yaw=-134.2deg	[env.py: 1019]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:09:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=450.1ms, total=450.1ms	[env.py: 1075]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.176, -1.149, 0.040)	[env.py: 1079]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.8 deg	[env.py: 1082]
+05/15 00:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:09:32 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:09:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:09:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:09:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:09:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:09:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:09:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.519[m] 91.115[deg]	[grasp_sample.py: 539]
+05/15 00:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:09:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:09:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:09:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:10:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:10:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:20 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:10:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:10:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:37 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:10:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:10:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:10:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:10:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:10:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.77s (batch: 3.14s, save: 8.63s)	[pipeline.py: 300]
+05/15 00:10:49 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.46s:
+  episode_total: mean=135.12s, total=135.12s, count=1, min=135115.5ms, max=135115.5ms
+  sensor_polling: mean=318.6ms, total=95.57s, count=300, min=291.3ms, max=628.7ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8630.5ms, max=8630.5ms
+  physics_step: mean=20.0ms, total=5.99s, count=300, min=14.2ms, max=28.9ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3141.0ms, max=3141.0ms
+  task_sampling: mean=460.1ms, total=460.1ms, count=1, min=460.1ms, max=460.1ms
+  task_specific_sample: mean=455.7ms, total=455.7ms, count=1, min=455.7ms, max=455.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=431.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:10:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:10:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:10:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:10:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:10:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:10:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014285m	[env.py: 870]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:10:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27281549  0.05023301 -0.01428518] yaw=-123.5deg	[env.py: 1019]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27239928  0.01686934 -0.01428518] yaw=-144.1deg	[env.py: 1019]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.29900268  0.06332054 -0.01428518] yaw=-127.7deg	[env.py: 1019]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:10:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.2ms	[env.py: 1075]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.273, 0.050, -0.014)	[env.py: 1079]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg	[env.py: 1082]
+05/15 00:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.180m	[env.py: 1086]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:10:51 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:10:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:10:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:10:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:10:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:10:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.202s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:10:54 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:10:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:10:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:10:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:10:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:10:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:10:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078772m	[env.py: 870]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:10:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26725864 -0.80572824 -0.07877217] yaw=-199.9deg	[env.py: 1019]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23015719 -0.95286749 -0.07877217] yaw=179.3deg	[env.py: 1019]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.26299221 -1.25817271 -0.07877217] yaw=163.1deg	[env.py: 1019]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:10:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.2ms, total=120.3ms	[env.py: 1075]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.267, -0.806, -0.079)	[env.py: 1079]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -199.9 deg	[env.py: 1082]
+05/15 00:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:10:55 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:10:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:10:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:10:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:10:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:10:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:10:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.548[m] 93.101[deg]	[grasp_sample.py: 539]
+05/15 00:10:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:10:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:10:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:11:26 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:11:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:42 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:11:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:11:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:11:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:11:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:11:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:11:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:11:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:11:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.584[deg]	[grasp_sample.py: 539]
+05/15 00:11:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:11:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:11:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:11:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:11:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.43s (batch: 2.64s, save: 8.79s)	[pipeline.py: 300]
+05/15 00:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:54 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.49s:
+  episode_total: mean=154.99s, total=154.99s, count=1, min=154991.6ms, max=154991.6ms
+  sensor_polling: mean=383.6ms, total=115.07s, count=300, min=296.1ms, max=692.1ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8789.6ms, max=8789.6ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=13.2ms, max=64.1ms
+  save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2642.5ms, max=2642.5ms
+  task_sampling: mean=492.5ms, total=492.5ms, count=1, min=492.5ms, max=492.5ms
+  task_specific_sample: mean=488.8ms, total=488.8ms, count=1, min=488.8ms, max=488.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=358.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:11:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:11:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:11:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:11:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:11:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:11:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043560m	[env.py: 870]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:11:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0416071  -1.33236146 -0.04355964] yaw=141.8deg	[env.py: 1019]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.16143619 -0.97793985 -0.04355964] yaw=194.1deg	[env.py: 1019]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02447538 -0.5241451  -0.04355964] yaw=-192.4deg	[env.py: 1019]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:11:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.3ms, total=227.3ms	[env.py: 1075]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.042, -1.332, -0.044)	[env.py: 1079]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.8 deg	[env.py: 1082]
+05/15 00:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m	[env.py: 1086]
+05/15 00:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:11:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:11:56 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:11:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:11:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:11:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:11:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.583s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:11:58 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:11:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:11:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:11:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:11:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:11:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:11:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.539[deg]	[grasp_sample.py: 539]
+05/15 00:11:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:11:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:11:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:11:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:11:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:11:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:11:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024254m	[env.py: 870]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:11:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04244605 -0.83721806 -0.02425373] yaw=171.7deg	[env.py: 1019]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0442782  -0.56080475 -0.02425373] yaw=-143.4deg	[env.py: 1019]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61771355 -0.12365304 -0.02425373] yaw=-124.6deg	[env.py: 1019]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:11:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=299.4ms, total=299.4ms	[env.py: 1075]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.042, -0.837, -0.024)	[env.py: 1079]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/15 00:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.117m	[env.py: 1086]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:11:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:11:59 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:11:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:11:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:11:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:11:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:11:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.625[m] 93.033[deg]	[grasp_sample.py: 539]
+05/15 00:12:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:12:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:12:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.539[deg]	[grasp_sample.py: 539]
+05/15 00:12:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:12:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 00:12:24 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:12:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:12:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:12:41 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/15 00:12:44 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:12:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:12:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:12:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.18s (batch: 2.75s, save: 9.43s)	[pipeline.py: 300]
+05/15 00:12:54 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.66s:
+  episode_total: mean=202.90s, total=202.90s, count=1, min=202898.4ms, max=202898.4ms
+  sensor_polling: mean=421.5ms, total=125.60s, count=298, min=319.9ms, max=615.4ms
+  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9428.7ms, max=9428.7ms
+  physics_step: mean=24.2ms, total=7.20s, count=298, min=11.7ms, max=30.7ms
+  save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2749.2ms, max=2749.2ms
+  task_sampling: mean=662.8ms, total=662.8ms, count=1, min=662.8ms, max=662.8ms
+  task_specific_sample: mean=659.2ms, total=659.2ms, count=1, min=659.2ms, max=659.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=434.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:12:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:12:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:12:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:12:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:12:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:12:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035376m	[env.py: 870]
+05/15 00:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:12:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 142.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15293603 -0.04929502 -0.03537593] yaw=-139.9deg	[env.py: 1019]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05609942 -0.18147783 -0.03537593] yaw=-151.9deg	[env.py: 1019]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20234845 -0.42096667 -0.03537593] yaw=-136.9deg	[env.py: 1019]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:12:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=406.9ms, total=406.9ms	[env.py: 1075]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.153, -0.049, -0.035)	[env.py: 1079]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
+05/15 00:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.199m	[env.py: 1086]
+05/15 00:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:12:56 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:12:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:12:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:12:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.085s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:12:58 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:13:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:13:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:13:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:13:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:13:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:13:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:13:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058527m	[env.py: 870]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:13:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=317.0ms, total=317.1ms	[env.py: 1105]
+05/15 00:13:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 00:13:00 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 00:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:13:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:13:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:13:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099631m	[env.py: 870]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.51361098 -0.21238305 -0.09963084] yaw=-123.2deg	[env.py: 1019]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:13:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19993756 -1.2503993  -0.09963084] yaw=134.3deg	[env.py: 1019]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:13:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=439.7ms, total=439.7ms	[env.py: 1075]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.514, -0.212, -0.100)	[env.py: 1079]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.2 deg	[env.py: 1082]
+05/15 00:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/15 00:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:13:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:13:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:13:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:13:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:13:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:13:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:13:02 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:13:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:13:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:13:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.068s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:13:04 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.499[m] 85.134[deg]	[grasp_sample.py: 539]
+05/15 00:13:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:13:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:13:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:13:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:13:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.96s (batch: 2.99s, save: 8.97s)	[pipeline.py: 300]
+05/15 00:13:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.70s:
+  episode_total: mean=71.19s, total=142.37s, count=2, min=2730.8ms, max=139640.6ms
+  sensor_polling: mean=320.1ms, total=96.03s, count=300, min=298.7ms, max=542.8ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8972.1ms, max=8972.1ms
+  physics_step: mean=20.5ms, total=6.16s, count=300, min=14.1ms, max=34.4ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2988.1ms, max=2988.1ms
+  task_sampling: mean=347.8ms, total=695.7ms, count=2, min=324.6ms, max=371.1ms
+  task_specific_sample: mean=343.3ms, total=686.6ms, count=2, min=319.7ms, max=367.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=443.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  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]
+05/15 00:13:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:13:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:13:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:13:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:13:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:13:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:13:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:13:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:13:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039869m	[env.py: 870]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:13:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08080857 -0.684539    0.03986907] yaw=-191.1deg	[env.py: 1019]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.36182087  0.11152301  0.03986907] yaw=-122.3deg	[env.py: 1019]
+05/15 00:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.18510567 -0.44309401  0.03986907] yaw=-184.3deg	[env.py: 1019]
+05/15 00:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:13:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.3ms	[env.py: 1075]
+05/15 00:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.081, -0.685, 0.040)	[env.py: 1079]
+05/15 00:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.1 deg	[env.py: 1082]
+05/15 00:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/15 00:13:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:13:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:13:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:13:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:13:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:13:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:13:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:13:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:13:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:13:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.642[m] 90.164[deg]	[grasp_sample.py: 539]
+05/15 00:13:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:13:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:13:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:13:52 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:13:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:14:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:14:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:14:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:14:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:14:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:14:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.13s (batch: 2.62s, save: 8.51s)	[pipeline.py: 300]
+05/15 00:14:21 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.91s:
+  episode_total: mean=72.32s, total=144.63s, count=2, min=2176.1ms, max=142456.6ms
+  sensor_polling: mean=339.1ms, total=101.73s, count=300, min=290.8ms, max=664.7ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8509.6ms, max=8509.6ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.6ms, max=85.9ms
+  save_batch_prep: mean=2.62s, total=2.62s, count=1, min=2615.7ms, max=2615.7ms
+  task_sampling: mean=453.2ms, total=906.3ms, count=2, min=428.0ms, max=478.3ms
+  task_specific_sample: mean=450.0ms, total=899.9ms, count=2, min=424.4ms, max=475.5ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=401.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:14:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:14:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:14:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:14:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:14:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:14:23 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: 273]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044043m	[env.py: 870]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:14:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.27422915 -0.88026021  0.04404253] yaw=189.1deg	[env.py: 1019]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:14:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=300.7ms, total=300.7ms	[env.py: 1075]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.274, -0.880, 0.044)	[env.py: 1079]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.1 deg	[env.py: 1082]
+05/15 00:14:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:14:23 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:14:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:14:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:14:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:14:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:14:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:14:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.463[m] 40.570[deg]	[grasp_sample.py: 539]
+05/15 00:14:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:14:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:14:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:14:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:14:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:14:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:14:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:14:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:14:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:14:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.116[m] 2.579[deg]	[grasp_sample.py: 539]
+05/15 00:14:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:14:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:14:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:14:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:01 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:15:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:15:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:16 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:15:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:15:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:15:19 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:15:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:15:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:15:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.04s (batch: 3.18s, save: 8.86s)	[pipeline.py: 300]
+05/15 00:15:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s:
+  episode_total: mean=132.02s, total=132.02s, count=1, min=132022.7ms, max=132022.7ms
+  sensor_polling: mean=313.4ms, total=94.01s, count=300, min=299.3ms, max=536.9ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8860.1ms, max=8860.1ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=13.9ms, max=30.9ms
+  save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3181.6ms, max=3181.6ms
+  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
+  task_specific_sample: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=420.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:15:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:15:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:15:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:15:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:15:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:15:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.066m, effective arm-mount z=0.794m (base_body_z=-0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066447m	[env.py: 870]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:15:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26478731 -0.62523089 -0.06644687] yaw=-177.8deg	[env.py: 1019]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:15:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=181.9ms, total=182.0ms	[env.py: 1075]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.265, -0.625, -0.066)	[env.py: 1079]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.8 deg	[env.py: 1082]
+05/15 00:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:15:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:15:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:15:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:15:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:15:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:15:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 125.476[deg]	[grasp_sample.py: 539]
+05/15 00:15:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:15:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:15:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:15:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:15:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:15:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:15:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:15:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 14.01s (batch: 4.94s, save: 9.07s)	[pipeline.py: 300]
+05/15 00:15:51 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.39s:
+  episode_total: mean=57.67s, total=173.00s, count=3, min=333.6ms, max=169713.1ms
+  sensor_polling: mean=415.4ms, total=124.62s, count=300, min=307.8ms, max=680.6ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9072.0ms, max=9072.0ms
+  physics_step: mean=22.8ms, total=6.84s, count=300, min=17.4ms, max=29.3ms
+  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4935.6ms, max=4935.6ms
+  task_specific_sample: mean=567.9ms, total=1.70s, count=3, min=324.4ms, max=696.8ms
+  task_sampling: mean=693.2ms, total=1.39s, count=2, min=687.1ms, max=699.3ms
+  task_sampling_failed: mean=333.6ms, total=333.6ms, count=1, min=333.6ms, max=333.6ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=585.1us, total=1.8ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=26.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:15:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:15:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:15:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:15:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:15:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.090m, effective arm-mount z=0.770m (base_body_z=-0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089969m	[env.py: 870]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05660568 -0.73766058 -0.08996897] yaw=-171.2deg	[env.py: 1019]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05391222 -0.28044642 -0.08996897] yaw=-172.4deg	[env.py: 1019]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.49459541 -0.17594503 -0.08996897] yaw=-139.1deg	[env.py: 1019]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.2ms, total=329.3ms	[env.py: 1075]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.057, -0.738, -0.090)	[env.py: 1079]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg	[env.py: 1082]
+05/15 00:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.134m	[env.py: 1086]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:15:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:15:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:15:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:15:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:15:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.084s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:15:56 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:15:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:15:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:15:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:15:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.418s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:15:58 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.031[m] 4.361[deg]	[grasp_sample.py: 539]
+05/15 00:15:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:15:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:15:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:15:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:15:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:15:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:15:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014237m	[env.py: 870]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:15:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.49204647  0.04642829 -0.01423683] yaw=-143.4deg	[env.py: 1019]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=358.0ms, total=358.0ms	[env.py: 1075]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.492, 0.046, -0.014)	[env.py: 1079]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
+05/15 00:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/15 00:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:15:59 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:15:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:15:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:15:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:15:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:00 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:16:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.655s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:16:01 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:16:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:16:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 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: 195]
+05/15 00:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:16:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090807m	[env.py: 870]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0464898  -1.04527032  0.09080708] yaw=140.3deg	[env.py: 1019]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.32453796 -0.00697545  0.09080708] yaw=-116.3deg	[env.py: 1019]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.3422997   0.05301079  0.09080708] yaw=-111.8deg	[env.py: 1019]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=456.9ms, total=457.0ms	[env.py: 1075]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.046, -1.045, 0.091)	[env.py: 1079]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.3 deg	[env.py: 1082]
+05/15 00:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.144m	[env.py: 1086]
+05/15 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:16:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:16:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:16:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:16:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:16:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:16:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083567m	[env.py: 870]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:16:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0594685  -1.09031952  0.08356676] yaw=163.9deg	[env.py: 1019]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03259096 -0.83669799  0.08356676] yaw=201.5deg	[env.py: 1019]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:16:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.9ms, total=269.9ms	[env.py: 1075]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.059, -1.090, 0.084)	[env.py: 1079]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg	[env.py: 1082]
+05/15 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.167m	[env.py: 1086]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:16:03 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:16:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:16:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.870s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:16:04 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:16:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:16:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:16:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:16:05 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: 195]
+05/15 00:16:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:16:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040315m	[env.py: 870]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:16:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10126933 -0.81656443 -0.04031538] yaw=199.3deg	[env.py: 1019]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.1596346  -0.25852234 -0.04031538] yaw=-132.9deg	[env.py: 1019]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:16:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.993s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:16:06 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05007739 -0.5144646  -0.04031538] yaw=-182.4deg	[env.py: 1019]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:16:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=355.8ms, total=355.9ms	[env.py: 1075]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.101, -0.817, -0.040)	[env.py: 1079]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.3 deg	[env.py: 1082]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:16:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:16:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:16:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.673[m] 111.684[deg]	[grasp_sample.py: 539]
+05/15 00:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:16:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:16:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:16:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:16:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:16:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:16:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:16:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:16:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004876m	[env.py: 870]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:16:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20784379 -0.73996203 -0.0048756 ] yaw=-164.5deg	[env.py: 1019]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 142.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:16:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.6ms, total=183.6ms	[env.py: 1075]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.208, -0.740, -0.005)	[env.py: 1079]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/15 00:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:16:08 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:16:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:16:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.998s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:16:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.569[m] 109.461[deg]	[grasp_sample.py: 539]
+05/15 00:16:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:16:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:16:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:16:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:16:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:17:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:17:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:17:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:17:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:17:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:17:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:17:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:17:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.01s (batch: 3.07s, save: 8.94s)	[pipeline.py: 300]
+05/15 00:17:48 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.40s:
+  episode_total: mean=138.23s, total=138.23s, count=1, min=138230.3ms, max=138230.3ms
+  sensor_polling: mean=324.3ms, total=97.28s, count=300, min=302.9ms, max=631.4ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8942.2ms, max=8942.2ms
+  physics_step: mean=19.4ms, total=5.82s, count=300, min=14.0ms, max=24.6ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3069.2ms, max=3069.2ms
+  task_sampling: mean=399.6ms, total=399.6ms, count=1, min=399.6ms, max=399.6ms
+  task_specific_sample: mean=395.4ms, total=395.4ms, count=1, min=395.4ms, max=395.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=454.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/15 00:17:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:17:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:17:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:17:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:17:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:17:50 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: 273]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012892m	[env.py: 870]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:17:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25793271 -0.17585713  0.01289249] yaw=-141.9deg	[env.py: 1019]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08474908 -1.23088287  0.01289249] yaw=167.8deg	[env.py: 1019]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.29496332 -0.56533564  0.01289249] yaw=-189.3deg	[env.py: 1019]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:17:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.6ms, total=120.7ms	[env.py: 1075]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.258, -0.176, 0.013)	[env.py: 1079]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
+05/15 00:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:17:50 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:17:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:17:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:17:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.194s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:17:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.633[m] 73.568[deg]	[grasp_sample.py: 539]
+05/15 00:17:54 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:17:55 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:17:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:17:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:17:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:17:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:17:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:17:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068177m	[env.py: 870]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:17:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.17130806 -0.10729222 -0.06817733] yaw=-151.8deg	[env.py: 1019]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2995786  -0.21895362 -0.06817733] yaw=-165.0deg	[env.py: 1019]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.31153698 -0.20252638 -0.06817733] yaw=-115.6deg	[env.py: 1019]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:17:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.2ms	[env.py: 1075]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.171, -0.107, -0.068)	[env.py: 1079]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg	[env.py: 1082]
+05/15 00:17:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.148m	[env.py: 1086]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:17:56 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:17:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:17:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:17:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:17:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:17:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.861s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:17:58 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:17:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:17:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092302m	[env.py: 870]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26202348 -1.07887556 -0.09230233] yaw=185.4deg	[env.py: 1019]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0134497  -0.4486017  -0.09230233] yaw=-140.3deg	[env.py: 1019]
+05/15 00:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.8ms, total=366.8ms	[env.py: 1075]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.262, -1.079, -0.092)	[env.py: 1079]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg	[env.py: 1082]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:00 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:18:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.707[m] 60.091[deg]	[grasp_sample.py: 539]
+05/15 00:18:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:18:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:18:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:18:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:18:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:18:24 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:18:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:18:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:18:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.95s (batch: 2.73s, save: 10.22s)	[pipeline.py: 300]
+05/15 00:18:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.75s:
+  episode_total: mean=79.63s, total=238.89s, count=3, min=2679.0ms, max=139108.1ms
+  sensor_polling: mean=339.6ms, total=176.58s, count=520, min=288.1ms, max=703.3ms
+  physics_step: mean=21.4ms, total=11.12s, count=520, min=13.9ms, max=58.1ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10218.3ms, max=10218.3ms
+  save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2728.6ms, max=2728.6ms
+  task_sampling: mean=584.1ms, total=1.75s, count=3, min=530.9ms, max=662.9ms
+  task_specific_sample: mean=580.2ms, total=1.74s, count=3, min=527.1ms, max=659.4ms
+  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.6ms, max=2.4ms
+  mj_forward_sync: mean=399.9us, total=1.2ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.4us, 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]
+05/15 00:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:18:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:18:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:18:26 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: 195]
+05/15 00:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:18:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067625m	[env.py: 870]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.46132799  0.01975622 -0.06762486] yaw=-152.3deg	[env.py: 1019]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.14325445 -1.21795601 -0.06762486] yaw=148.6deg	[env.py: 1019]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20033149 -0.04624345 -0.06762486] yaw=-127.9deg	[env.py: 1019]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.6ms	[env.py: 1075]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.461, 0.020, -0.068)	[env.py: 1079]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/15 00:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.813s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:18:28 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:18:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:18:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:18:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:18:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:18:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:18:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078921m	[env.py: 870]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:18:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.18376654 -0.69307317 -0.07892069] yaw=-172.9deg	[env.py: 1019]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.7ms	[env.py: 1075]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.184, -0.693, -0.079)	[env.py: 1079]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg	[env.py: 1082]
+05/15 00:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:30 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:18:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.603[m] 74.076[deg]	[grasp_sample.py: 539]
+05/15 00:18:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:18:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:18:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:40 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:18:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:18:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:18:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:18:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:18:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.86s (batch: 3.95s, save: 8.91s)	[pipeline.py: 300]
+05/15 00:18:54 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.99s:
+  episode_total: mean=43.39s, total=173.57s, count=4, min=2407.1ms, max=165795.3ms
+  sensor_polling: mean=401.2ms, total=120.36s, count=300, min=293.3ms, max=708.5ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8908.1ms, max=8908.1ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.3ms, max=33.0ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3951.9ms, max=3951.9ms
+  task_sampling: mean=498.4ms, total=1.99s, count=4, min=399.7ms, max=582.1ms
+  task_specific_sample: mean=492.8ms, total=1.97s, count=4, min=394.9ms, max=572.1ms
+  scene_randomize: mean=1.8ms, total=7.0ms, count=4, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=462.8us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:18:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:18:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:18:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:18:56 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: 195]
+05/15 00:18:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:18:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037820m	[env.py: 870]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:18:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00833003 -1.27160631  0.03781968] yaw=183.9deg	[env.py: 1019]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32526324 -1.18372202  0.03781968] yaw=170.9deg	[env.py: 1019]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.8ms, total=177.9ms	[env.py: 1075]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.008, -1.272, 0.038)	[env.py: 1079]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.9 deg	[env.py: 1082]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.175m	[env.py: 1086]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:56 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.325s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:18:59 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:18:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:19:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:19:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:19:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:19:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095888m	[env.py: 870]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.26042115 -0.65285979 -0.09588819] yaw=-181.6deg	[env.py: 1019]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29479509 -0.24109654 -0.09588819] yaw=-154.1deg	[env.py: 1019]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12131562 -1.20388372 -0.09588819] yaw=147.5deg	[env.py: 1019]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:19:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=420.7ms, total=420.8ms	[env.py: 1075]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.260, -0.653, -0.096)	[env.py: 1079]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.6 deg	[env.py: 1082]
+05/15 00:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:19:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:19:02 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:19:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:19:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:19:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:19:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:19:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:19:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 78.492[deg]	[grasp_sample.py: 539]
+05/15 00:19:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:19:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:19:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:19:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:20:01 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:20:12 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:20:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:20:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:20:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:20:28 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:20:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:20:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:20:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:20:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:20:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.67s (batch: 3.23s, save: 9.44s)	[pipeline.py: 300]
+05/15 00:20:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.28s:
+  episode_total: mean=52.17s, total=156.51s, count=3, min=2332.5ms, max=150497.5ms
+  sensor_polling: mean=338.0ms, total=101.41s, count=300, min=304.5ms, max=643.8ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9444.6ms, max=9444.6ms
+  physics_step: mean=21.0ms, total=6.29s, count=300, min=18.1ms, max=33.9ms
+  save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3229.6ms, max=3229.6ms
+  task_sampling: mean=425.0ms, total=1.28s, count=3, min=343.4ms, max=576.1ms
+  task_specific_sample: mean=421.1ms, total=1.26s, count=3, min=339.0ms, max=572.3ms
+  scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.7ms, max=2.7ms
+  mj_forward_sync: mean=439.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.6us, 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]
+05/15 00:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:31 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: 273]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060684m	[env.py: 870]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02263341 -1.010915    0.06068391] yaw=173.4deg	[env.py: 1019]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=515.2ms, total=515.3ms	[env.py: 1075]
+05/15 00:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.023, -1.011, 0.061)	[env.py: 1079]
+05/15 00:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.4 deg	[env.py: 1082]
+05/15 00:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.114m	[env.py: 1086]
+05/15 00:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:20:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:20:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.130s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:20:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.785[m] 112.778[deg]	[grasp_sample.py: 539]
+05/15 00:20:35 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:20:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:37 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: 195]
+05/15 00:20:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044053m	[env.py: 870]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07933734 -1.29591857 -0.04405346] yaw=176.8deg	[env.py: 1019]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10120905 -0.31761094 -0.04405346] yaw=-161.4deg	[env.py: 1019]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07926745 -1.18759041 -0.04405346] yaw=178.6deg	[env.py: 1019]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:20:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.079, -1.296, -0.044)	[env.py: 1079]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
+05/15 00:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.105m	[env.py: 1086]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:20:37 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:20:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:20:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:20:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:20:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:20:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:20:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:20:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.70s (batch: 2.64s, save: 9.05s)	[pipeline.py: 300]
+05/15 00:20:41 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.87s:
+  episode_total: mean=66.65s, total=133.30s, count=2, min=2407.9ms, max=130895.3ms
+  sensor_polling: mean=310.8ms, total=93.24s, count=300, min=290.1ms, max=738.4ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9053.3ms, max=9053.3ms
+  physics_step: mean=19.8ms, total=5.93s, count=300, min=17.3ms, max=29.8ms
+  save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2643.8ms, max=2643.8ms
+  task_sampling: mean=432.6ms, total=865.2ms, count=2, min=424.5ms, max=440.7ms
+  task_specific_sample: mean=429.1ms, total=858.2ms, count=2, min=420.7ms, max=437.4ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=448.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035398m	[env.py: 870]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2365098  -0.62920709 -0.03539797] yaw=-188.6deg	[env.py: 1019]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.28138633 -0.34737714 -0.03539797] yaw=-139.2deg	[env.py: 1019]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19431527 -0.97810002 -0.03539797] yaw=194.3deg	[env.py: 1019]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.7ms, total=227.7ms	[env.py: 1075]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.237, -0.629, -0.035)	[env.py: 1079]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.6 deg	[env.py: 1082]
+05/15 00:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:20:42 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:20:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:20:43 INFO: [Worker 0] Feasible grasp found 74 (originally 74): w/ 0.617[m] 87.337[deg]	[grasp_sample.py: 539]
+05/15 00:20:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:20:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.689[m] 113.004[deg]	[grasp_sample.py: 539]
+05/15 00:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:20:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:20:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:20:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:20:44 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:20:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:45 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: 195]
+05/15 00:20:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087761m	[env.py: 870]
+05/15 00:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.31218989 -0.1708919  -0.08776131] yaw=-134.1deg	[env.py: 1019]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.24429942 -0.44781585 -0.08776131] yaw=-160.9deg	[env.py: 1019]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:20:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=470.2ms, total=470.2ms	[env.py: 1075]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.312, -0.171, -0.088)	[env.py: 1079]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.1 deg	[env.py: 1082]
+05/15 00:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/15 00:20:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:20:46 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:20:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:20:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:20:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:20:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:20:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:20:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.583[m] 116.986[deg]	[grasp_sample.py: 539]
+05/15 00:20:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:20:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:20:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:20:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:20:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:21:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:21:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:21:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:21:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:21:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:21:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 12.37s (batch: 3.62s, save: 8.75s)	[pipeline.py: 300]
+05/15 00:21:31 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.13s:
+  episode_total: mean=76.39s, total=152.78s, count=2, min=2962.1ms, max=149814.0ms
+  sensor_polling: mean=358.7ms, total=107.61s, count=300, min=282.2ms, max=672.2ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8749.9ms, max=8749.9ms
+  physics_step: mean=20.4ms, total=6.13s, count=300, min=14.0ms, max=57.8ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3615.5ms, max=3615.5ms
+  task_sampling: mean=563.6ms, total=1.13s, count=2, min=432.6ms, max=694.6ms
+  task_specific_sample: mean=557.8ms, total=1.12s, count=2, min=425.2ms, max=690.5ms
+  scene_randomize: mean=3.4ms, total=6.8ms, count=2, min=1.2ms, max=5.6ms
+  mj_forward_sync: mean=468.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=25.1us, 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]
+05/15 00:21:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:21:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:21:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:21:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:21:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:21:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:21:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009177m	[env.py: 870]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:21:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24679385 -1.10871296 -0.00917682] yaw=158.4deg	[env.py: 1019]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23496786 -0.59309048 -0.00917682] yaw=-187.4deg	[env.py: 1019]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.50221727 -0.13292861 -0.00917682] yaw=-118.0deg	[env.py: 1019]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=322.3ms, total=322.4ms	[env.py: 1075]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.247, -1.109, -0.009)	[env.py: 1079]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg	[env.py: 1082]
+05/15 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:21:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:21:33 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:21:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:21:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:21:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:21:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:21:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:21:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 82.916[deg]	[grasp_sample.py: 539]
+05/15 00:21:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:21:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:21:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:21:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:21:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:21:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:22:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:36 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:22:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:22:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:22:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:22:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:22:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:22:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:22:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.113[m] 2.398[deg]	[grasp_sample.py: 539]
+05/15 00:22:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:22:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:22:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:22:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/15 00:22:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:22:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:57 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:23:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:23:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:23:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.23s (batch: 2.82s, save: 8.41s)	[pipeline.py: 300]
+05/15 00:23:03 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.14s:
+  episode_total: mean=75.37s, total=150.75s, count=2, min=3968.5ms, max=146780.9ms
+  sensor_polling: mean=346.6ms, total=103.97s, count=300, min=294.5ms, max=629.5ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8411.5ms, max=8411.5ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=14.5ms, max=55.9ms
+  save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2820.4ms, max=2820.4ms
+  task_sampling: mean=568.0ms, total=1.14s, count=2, min=397.7ms, max=738.3ms
+  task_specific_sample: mean=563.8ms, total=1.13s, count=2, min=393.2ms, max=734.3ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.9ms, max=2.4ms
+  mj_forward_sync: mean=576.8us, total=1.2ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:23:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:23:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:23:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:23:05 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: 195]
+05/15 00:23:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:23:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051580m	[env.py: 870]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:23:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07313284 -1.2173576  -0.05158047] yaw=186.3deg	[env.py: 1019]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24137587 -0.78102284 -0.05158047] yaw=-178.7deg	[env.py: 1019]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.44923668 -0.27969363 -0.05158047] yaw=-134.6deg	[env.py: 1019]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:23:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.073, -1.217, -0.052)	[env.py: 1079]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.3 deg	[env.py: 1082]
+05/15 00:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:23:05 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:23:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:23:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:23:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:23:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:23:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:23:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.796[m] 59.809[deg]	[grasp_sample.py: 539]
+05/15 00:23:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:23:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:23:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:23:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:23:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:23:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:23:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:23:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:23:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.09s (batch: 2.73s, save: 8.36s)	[pipeline.py: 300]
+05/15 00:23:25 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.11s:
+  episode_total: mean=81.03s, total=162.05s, count=2, min=2352.9ms, max=159701.2ms
+  sensor_polling: mean=365.3ms, total=109.59s, count=300, min=287.5ms, max=662.7ms
+  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8358.9ms, max=8358.9ms
+  physics_step: mean=22.7ms, total=6.81s, count=300, min=17.4ms, max=53.5ms
+  save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2731.4ms, max=2731.4ms
+  task_sampling: mean=556.4ms, total=1.11s, count=2, min=446.9ms, max=665.9ms
+  task_specific_sample: mean=552.8ms, total=1.11s, count=2, min=443.2ms, max=662.4ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=366.8us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:23:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:23:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:23:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:23:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:23:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:23:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074217m	[env.py: 870]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:23:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.32700396 -0.52713476 -0.07421725] yaw=-130.8deg	[env.py: 1019]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.2945871  -0.29241931 -0.07421725] yaw=-132.4deg	[env.py: 1019]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19491704 -0.96673606 -0.07421725] yaw=146.0deg	[env.py: 1019]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=552.7ms, total=552.7ms	[env.py: 1075]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.327, -0.527, -0.074)	[env.py: 1079]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/15 00:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:23:27 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:23:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:23:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:23:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:23:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:23:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 61.986[deg]	[grasp_sample.py: 539]
+05/15 00:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:23:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:23:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:23:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:23:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:23:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:23:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:23:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:23:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:23:56 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.581[deg]	[grasp_sample.py: 539]
+05/15 00:23:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:23:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:23:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:13 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:24:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 1.574[deg]	[grasp_sample.py: 539]
+05/15 00:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:24:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:24:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:18 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:24:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:34 INFO: [Worker 0] Object is not in grasp! 0.00138 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:24:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:24:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:24:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/15 00:24:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:24:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.108[m] 2.421[deg]	[grasp_sample.py: 539]
+05/15 00:24:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:24:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:24:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:24:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:24:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 11.36s (batch: 3.01s, save: 8.35s)	[pipeline.py: 300]
+05/15 00:24:46 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
+  episode_total: mean=193.72s, total=193.72s, count=1, min=193720.6ms, max=193720.6ms
+  sensor_polling: mean=423.4ms, total=127.01s, count=300, min=317.7ms, max=838.3ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8348.7ms, max=8348.7ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=16.3ms, max=29.1ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3007.0ms, max=3007.0ms
+  task_sampling: mean=548.9ms, total=548.9ms, count=1, min=548.9ms, max=548.9ms
+  task_specific_sample: mean=544.3ms, total=544.3ms, count=1, min=544.3ms, max=544.3ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=524.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:24:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:24:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:24:47 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: 273]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065802m	[env.py: 870]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.3444411   0.05597337  0.0658024 ] yaw=-147.1deg	[env.py: 1019]
+05/15 00:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0486599  -0.59930016  0.0658024 ] yaw=-192.0deg	[env.py: 1019]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.28349317 -0.16974819  0.0658024 ] yaw=-122.4deg	[env.py: 1019]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:24:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=613.0ms, total=613.0ms	[env.py: 1075]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.344, 0.056, 0.066)	[env.py: 1079]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
+05/15 00:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.137m	[env.py: 1086]
+05/15 00:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:24:48 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:24:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.095s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:24:50 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:24:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:52 WARNING: [Worker 0] No trajectory data to save for chunk_304	[pipeline.py: 234]
+05/15 00:24:52 WARNING: [Worker 0] No trajectory data to save for chunk_304	[pipeline.py: 234]
+05/15 00:24:52 INFO: [Worker 0] Worker 0 completed house 1: 8/8 successful episodes	[pipeline.py: 1323]
+05/15 00:24:52 INFO: [Worker 0] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=2777.27s
+  House averages:
+  episode_total: mean=85.36s, total=1536.39s, count=18, min=214.2ms, max=202898.4ms
+  sensor_polling: mean=401.6ms, total=1053.73s, count=2624, min=280.7ms, max=838.3ms
+  save_trajectories: mean=9.12s, total=72.94s, count=8, min=8348.7ms, max=10302.9ms
+  physics_step: mean=22.7ms, total=59.57s, count=2624, min=11.7ms, max=57.8ms
+  save_batch_prep: mean=3.58s, total=28.62s, count=8, min=2603.8ms, max=4935.6ms
+  task_sampling: mean=684.5ms, total=10.95s, count=16, min=287.5ms, max=2581.2ms
+  task_specific_sample: mean=511.0ms, total=9.20s, count=18, min=210.0ms, max=919.1ms
+  scene_load: mean=2.22s, total=2.22s, count=1, min=2216.7ms, max=2216.7ms
+  scene_env_create: mean=1.33s, total=1.33s, count=1, min=1332.4ms, max=1332.4ms
+  scene_compile: mean=763.2ms, total=763.2ms, count=1, min=763.2ms, max=763.2ms
+  compile_mujoco: mean=567.7ms, total=567.7ms, count=1, min=567.7ms, max=567.7ms
+  task_sampling_failed: mean=273.9ms, total=547.8ms, count=2, min=214.2ms, max=333.6ms
+  compile_xml_load: mean=134.2ms, total=134.2ms, count=1, min=134.2ms, max=134.2ms
+  scene_init: mean=74.6ms, total=74.6ms, count=1, min=74.6ms, max=74.6ms
+  scene_asset_install: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.0ms, max=5.6ms
+  asset_install_grasps: mean=32.2ms, total=32.2ms, count=1, min=32.2ms, max=32.2ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=468.6us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=23.1us, total=0.4ms, count=16, 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]
+05/15 00:24:52 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:24:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=2777.27s
+  Worker averages:
+  episode_total: mean=85.36s, total=1536.39s, count=18, min=214.2ms, max=202898.4ms
+  sensor_polling: mean=401.6ms, total=1053.73s, count=2624, min=280.7ms, max=838.3ms
+  save_trajectories: mean=9.12s, total=72.94s, count=8, min=8348.7ms, max=10302.9ms
+  physics_step: mean=22.7ms, total=59.57s, count=2624, min=11.7ms, max=57.8ms
+  save_batch_prep: mean=3.58s, total=28.62s, count=8, min=2603.8ms, max=4935.6ms
+  task_sampling: mean=684.5ms, total=10.95s, count=16, min=287.5ms, max=2581.2ms
+  task_specific_sample: mean=511.0ms, total=9.20s, count=18, min=210.0ms, max=919.1ms
+  scene_load: mean=2.22s, total=2.22s, count=1, min=2216.7ms, max=2216.7ms
+  scene_env_create: mean=1.33s, total=1.33s, count=1, min=1332.4ms, max=1332.4ms
+  scene_compile: mean=763.2ms, total=763.2ms, count=1, min=763.2ms, max=763.2ms
+  compile_mujoco: mean=567.7ms, total=567.7ms, count=1, min=567.7ms, max=567.7ms
+  task_sampling_failed: mean=273.9ms, total=547.8ms, count=2, min=214.2ms, max=333.6ms
+  compile_xml_load: mean=134.2ms, total=134.2ms, count=1, min=134.2ms, max=134.2ms
+  scene_init: mean=74.6ms, total=74.6ms, count=1, min=74.6ms, max=74.6ms
+  scene_asset_install: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.0ms, max=5.6ms
+  asset_install_grasps: mean=32.2ms, total=32.2ms, count=1, min=32.2ms, max=32.2ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=468.6us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=23.1us, total=0.4ms, count=16, 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]
+05/15 00:24:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:55 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:24:55 INFO: Success count: 8, Total count: 8	[pipeline.py: 1491]
+05/15 00:24:55 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/15 00:24:58 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:24:58 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.37s:
+  episode_total: mean=113.33s, total=113.33s, count=1, min=113328.9ms, max=113328.9ms
+  sensor_polling: mean=329.2ms, total=98.77s, count=300, min=298.3ms, max=567.9ms
+  physics_step: mean=20.0ms, total=6.00s, count=300, min=14.0ms, max=28.3ms
+  task_sampling: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
+  task_specific_sample: mean=369.7ms, total=369.7ms, count=1, min=369.7ms, max=369.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=401.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:25:00 WARNING: [Worker 0] No trajectory data to save for chunk_304	[pipeline.py: 234]
+05/15 00:25:00 WARNING: [Worker 0] No trajectory data to save for chunk_304	[pipeline.py: 234]
+05/15 00:25:00 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/15 00:25:00 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=2837.62s
+  House averages:
+  episode_total: mean=86.10s, total=1549.74s, count=18, min=2332.5ms, max=162073.1ms
+  sensor_polling: mean=334.6ms, total=1087.18s, count=3249, min=288.4ms, max=707.1ms
+  save_trajectories: mean=8.90s, total=80.11s, count=9, min=8338.8ms, max=9873.6ms
+  physics_step: mean=20.5ms, total=66.76s, count=3249, min=13.9ms, max=55.9ms
+  save_batch_prep: mean=3.21s, total=28.92s, count=9, min=2820.4ms, max=3692.1ms
+  task_sampling: mean=587.4ms, total=10.57s, count=18, min=305.6ms, max=3158.7ms
+  task_specific_sample: mean=433.4ms, total=7.80s, count=18, min=299.9ms, max=734.3ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2697.8ms, max=2697.8ms
+  scene_env_create: mean=1.56s, total=1.56s, count=1, min=1555.5ms, max=1555.5ms
+  scene_compile: mean=1.02s, total=1.02s, count=1, min=1024.8ms, max=1024.8ms
+  compile_mujoco: mean=629.0ms, total=629.0ms, count=1, min=629.0ms, max=629.0ms
+  compile_xml_load: mean=328.8ms, total=328.8ms, count=1, min=328.8ms, max=328.8ms
+  scene_init: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  compile_aux_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_aux_policy_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  scene_randomize: mean=2.2ms, total=40.1ms, count=18, min=1.4ms, max=3.1ms
+  scene_asset_install: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  asset_install_grasps: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  mj_forward_sync: mean=479.9us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=23.5us, 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]
+05/15 00:25:00 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:25:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=2837.62s
+  Worker averages:
+  episode_total: mean=86.10s, total=1549.74s, count=18, min=2332.5ms, max=162073.1ms
+  sensor_polling: mean=334.6ms, total=1087.18s, count=3249, min=288.4ms, max=707.1ms
+  save_trajectories: mean=8.90s, total=80.11s, count=9, min=8338.8ms, max=9873.6ms
+  physics_step: mean=20.5ms, total=66.76s, count=3249, min=13.9ms, max=55.9ms
+  save_batch_prep: mean=3.21s, total=28.92s, count=9, min=2820.4ms, max=3692.1ms
+  task_sampling: mean=587.4ms, total=10.57s, count=18, min=305.6ms, max=3158.7ms
+  task_specific_sample: mean=433.4ms, total=7.80s, count=18, min=299.9ms, max=734.3ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2697.8ms, max=2697.8ms
+  scene_env_create: mean=1.56s, total=1.56s, count=1, min=1555.5ms, max=1555.5ms
+  scene_compile: mean=1.02s, total=1.02s, count=1, min=1024.8ms, max=1024.8ms
+  compile_mujoco: mean=629.0ms, total=629.0ms, count=1, min=629.0ms, max=629.0ms
+  compile_xml_load: mean=328.8ms, total=328.8ms, count=1, min=328.8ms, max=328.8ms
+  scene_init: mean=78.6ms, total=78.6ms, count=1, min=78.6ms, max=78.6ms
+  compile_aux_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_aux_policy_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  scene_randomize: mean=2.2ms, total=40.1ms, count=18, min=1.4ms, max=3.1ms
+  scene_asset_install: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  asset_install_grasps: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  mj_forward_sync: mean=479.9us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=23.5us, 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]
+05/15 00:25:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:25:03 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/15 00:25:03 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/15 00:25:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:25:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:25:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:25:36 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/15 00:25:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:25:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:25:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 10.92s (batch: 2.59s, save: 8.33s)	[pipeline.py: 300]
+05/15 00:25:48 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.80s:
+  episode_total: mean=141.31s, total=141.31s, count=1, min=141307.0ms, max=141307.0ms
+  sensor_polling: mean=348.5ms, total=103.85s, count=298, min=286.6ms, max=747.8ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8330.6ms, max=8330.6ms
+  physics_step: mean=22.3ms, total=6.66s, count=298, min=17.5ms, max=51.2ms
+  save_batch_prep: mean=2.59s, total=2.59s, count=1, min=2590.0ms, max=2590.0ms
+  task_sampling: mean=797.4ms, total=797.4ms, count=1, min=797.4ms, max=797.4ms
+  task_specific_sample: mean=794.1ms, total=794.1ms, count=1, min=794.1ms, max=794.1ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=340.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:25:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:25:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:25:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:25:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:25:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:25:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088814m	[env.py: 870]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:25:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.40281113 -0.28251261  0.08881429] yaw=-157.2deg	[env.py: 1019]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.34748627 -0.24031275  0.08881429] yaw=-165.9deg	[env.py: 1019]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.0207547  -0.59847458  0.08881429] yaw=-174.6deg	[env.py: 1019]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:25:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.4ms, total=224.4ms	[env.py: 1075]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.403, -0.283, 0.089)	[env.py: 1079]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg	[env.py: 1082]
+05/15 00:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:25:49 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:25:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:25:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:25:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:25:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:25:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 49.746[deg]	[grasp_sample.py: 539]
+05/15 00:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:25:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:25:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:26:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:26:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:26:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:27:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:27:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:27:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:27:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:27:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:27:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:27:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:27:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.848[deg]	[grasp_sample.py: 539]
+05/15 00:27:38 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:27:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:27:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:27:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:27:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:27:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:27:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:27:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002576m	[env.py: 870]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:27:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18769 free points within sampling radius	[env.py: 907]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27767295 -1.23634722 -0.00257556] yaw=164.4deg	[env.py: 1019]
+05/15 00:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06631911 -0.36497831 -0.00257556] yaw=-183.4deg	[env.py: 1019]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25365995 -0.01699038 -0.00257556] yaw=-135.5deg	[env.py: 1019]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:27:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.0ms, total=179.1ms	[env.py: 1075]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.278, -1.236, -0.003)	[env.py: 1079]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
+05/15 00:27:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/15 00:27:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:27:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:27:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:27:40 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:27:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:27:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:27:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:27:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:27:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.971s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:27:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.572[m] 116.014[deg]	[grasp_sample.py: 539]
+05/15 00:27:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:27:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:27:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:27:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:28:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:28:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:28:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:29:22 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:29:38 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[pipeline.py: 1174]
+05/15 00:29:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_304 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/15 00:29:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:29:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:29:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_304	[save_utils.py: 785]
+05/15 00:29:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_304 in 10.67s (batch: 2.36s, save: 8.31s)	[pipeline.py: 300]
+05/15 00:29:50 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.82s:
+  episode_total: mean=119.57s, total=239.15s, count=2, min=109038.3ms, max=130111.2ms
+  sensor_polling: mean=306.6ms, total=182.13s, count=594, min=285.6ms, max=701.6ms
+  physics_step: mean=19.1ms, total=11.34s, count=594, min=13.2ms, max=22.0ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8312.5ms, max=8312.5ms
+  save_batch_prep: mean=2.36s, total=2.36s, count=1, min=2358.9ms, max=2358.9ms
+  task_sampling: mean=409.3ms, total=818.5ms, count=2, min=385.0ms, max=433.5ms
+  task_specific_sample: mean=405.7ms, total=811.5ms, count=2, min=381.7ms, max=429.8ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms
+  mj_forward_sync: mean=397.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:29:51 WARNING: [Worker 0] No trajectory data to save for chunk_304	[pipeline.py: 234]
+05/15 00:29:51 WARNING: [Worker 0] No trajectory data to save for chunk_304	[pipeline.py: 234]
+05/15 00:29:51 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/15 00:29:51 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=3399.09s
+  House averages:
+  episode_total: mean=102.61s, total=1846.92s, count=18, min=2176.1ms, max=183797.4ms
+  sensor_polling: mean=348.6ms, total=1328.95s, count=3812, min=285.0ms, max=747.8ms
+  save_trajectories: mean=8.77s, total=87.67s, count=10, min=8312.5ms, max=10218.3ms
+  physics_step: mean=21.4ms, total=81.67s, count=3812, min=13.2ms, max=87.8ms
+  save_batch_prep: mean=2.70s, total=26.95s, count=10, min=2358.9ms, max=3049.9ms
+  task_sampling: mean=651.1ms, total=11.72s, count=18, min=360.7ms, max=3012.2ms
+  task_specific_sample: mean=505.6ms, total=9.10s, count=18, min=357.5ms, max=794.1ms
+  scene_load: mean=2.55s, total=2.55s, count=1, min=2554.2ms, max=2554.2ms
+  scene_env_create: mean=1.54s, total=1.54s, count=1, min=1543.2ms, max=1543.2ms
+  scene_compile: mean=893.6ms, total=893.6ms, count=1, min=893.6ms, max=893.6ms
+  compile_mujoco: mean=622.3ms, total=622.3ms, count=1, min=622.3ms, max=622.3ms
+  compile_xml_load: mean=204.4ms, total=204.4ms, count=1, min=204.4ms, max=204.4ms
+  scene_init: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  scene_asset_install: mean=41.8ms, total=41.8ms, count=1, min=41.8ms, max=41.8ms
+  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  scene_randomize: mean=1.9ms, total=34.5ms, count=18, min=1.0ms, max=2.8ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
+  asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  mj_forward_sync: mean=398.3us, total=7.2ms, count=18, min=0.3ms, max=0.5ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=18.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 00:29:51 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:29:51 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3399.09s
+  Worker averages:
+  episode_total: mean=102.61s, total=1846.92s, count=18, min=2176.1ms, max=183797.4ms
+  sensor_polling: mean=348.6ms, total=1328.95s, count=3812, min=285.0ms, max=747.8ms
+  save_trajectories: mean=8.77s, total=87.67s, count=10, min=8312.5ms, max=10218.3ms
+  physics_step: mean=21.4ms, total=81.67s, count=3812, min=13.2ms, max=87.8ms
+  save_batch_prep: mean=2.70s, total=26.95s, count=10, min=2358.9ms, max=3049.9ms
+  task_sampling: mean=651.1ms, total=11.72s, count=18, min=360.7ms, max=3012.2ms
+  task_specific_sample: mean=505.6ms, total=9.10s, count=18, min=357.5ms, max=794.1ms
+  scene_load: mean=2.55s, total=2.55s, count=1, min=2554.2ms, max=2554.2ms
+  scene_env_create: mean=1.54s, total=1.54s, count=1, min=1543.2ms, max=1543.2ms
+  scene_compile: mean=893.6ms, total=893.6ms, count=1, min=893.6ms, max=893.6ms
+  compile_mujoco: mean=622.3ms, total=622.3ms, count=1, min=622.3ms, max=622.3ms
+  compile_xml_load: mean=204.4ms, total=204.4ms, count=1, min=204.4ms, max=204.4ms
+  scene_init: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  scene_asset_install: mean=41.8ms, total=41.8ms, count=1, min=41.8ms, max=41.8ms
+  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  scene_randomize: mean=1.9ms, total=34.5ms, count=18, min=1.0ms, max=2.8ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
+  asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  mj_forward_sync: mean=398.3us, total=7.2ms, count=18, min=0.3ms, max=0.5ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=18.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 00:29:53 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:29:53 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/15 00:29:53 INFO: Success rate: 90.91%	[pipeline.py: 1492]
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