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 05/11 07:42:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
 05/11 07:42:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
 05/11 07:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:42:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:42:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:42:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:42:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:42:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:42:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
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+05/11 07:43:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:43:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.405[deg]	[grasp_sample.py: 539]
+05/11 07:43:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
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+05/11 07:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
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+05/11 07:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
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+05/11 07:43:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
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+05/11 07:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
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+05/11 07:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
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+05/11 07:43:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:30 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]
+05/11 07:43:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.372[deg]	[grasp_sample.py: 539]
+05/11 07:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:32 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]
+05/11 07:43:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:43:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:43:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.046[m] 0.453[deg]	[grasp_sample.py: 539]
+05/11 07:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:43:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:37 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]
+05/11 07:43:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.382s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.265[deg]	[grasp_sample.py: 539]
+05/11 07:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 07:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:43:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:43:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:43:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:43:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:43:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:43:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001815m	[env.py: 870]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:43:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86448477  0.88401458  0.00181479] yaw=-157.4deg	[env.py: 1019]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8070207   0.41514707  0.00181479] yaw=184.4deg	[env.py: 1019]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98005872  0.97338867  0.00181479] yaw=-136.2deg	[env.py: 1019]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:43:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.7ms, total=108.7ms	[env.py: 1075]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.884, 0.002)	[env.py: 1079]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
+05/11 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:43:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:43:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:43:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:43:42 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]
+05/11 07:43:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:43:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 88.138[deg]	[grasp_sample.py: 539]
+05/11 07:43:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.373[deg]	[grasp_sample.py: 539]
+05/11 07:43:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:43:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:43:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:43:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.046[m] 0.453[deg]	[grasp_sample.py: 539]
+05/11 07:43:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:43:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:43:56 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]
+05/11 07:43:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:43:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:43:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.373[deg]	[grasp_sample.py: 539]
+05/11 07:43:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:43:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:43:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:43:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:43:59 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 07:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:00 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 07:44:00 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.38s:
+  episode_total: mean=123.64s, total=123.64s, count=1, min=123642.5ms, max=123642.5ms
+  sensor_polling: mean=430.0ms, total=80.40s, count=187, min=329.4ms, max=695.5ms
+  physics_step: mean=22.6ms, total=4.23s, count=187, min=11.6ms, max=32.3ms
+  task_sampling: mean=384.1ms, total=384.1ms, count=1, min=384.1ms, max=384.1ms
+  task_specific_sample: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=334.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:44:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:44:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:44:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:44:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072329m	[env.py: 870]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7460374   0.0536761   0.07232856] yaw=165.3deg	[env.py: 1019]
+05/11 07:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89900531  0.74672784  0.07232856] yaw=-167.7deg	[env.py: 1019]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05541778  0.91153387  0.07232856] yaw=-156.6deg	[env.py: 1019]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:44:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.4ms, total=136.5ms	[env.py: 1075]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.054, 0.072)	[env.py: 1079]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
+05/11 07:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:44:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:44:02 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]
+05/11 07:44:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:44:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:44:07 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.601[m] 88.277[deg]	[grasp_sample.py: 539]
+05/11 07:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:44:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 07:44:08 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 07:44:08 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.61s:
+  episode_total: mean=135.45s, total=135.45s, count=1, min=135448.3ms, max=135448.3ms
+  sensor_polling: mean=373.5ms, total=90.76s, count=243, min=299.6ms, max=667.5ms
+  physics_step: mean=21.0ms, total=5.11s, count=243, min=11.4ms, max=32.1ms
+  task_sampling: mean=607.5ms, total=607.5ms, count=1, min=607.5ms, max=607.5ms
+  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=408.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:08 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 07:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:44:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:44:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:44:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057978m	[env.py: 870]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01895682  1.09833373  0.05797838] yaw=-127.6deg	[env.py: 1019]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92109828  0.93951121  0.05797838] yaw=-152.0deg	[env.py: 1019]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=273.2ms, total=273.3ms	[env.py: 1075]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 1.098, 0.058)	[env.py: 1079]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg	[env.py: 1082]
+05/11 07:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:44:10 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:44:10 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]
+05/11 07:44:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:44:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:44:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:44:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:44:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:44:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:44:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:44:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019758m	[env.py: 870]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:44:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87467215  0.40743971  0.01975841] yaw=169.4deg	[env.py: 1019]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69434563  0.55787665  0.01975841] yaw=-166.5deg	[env.py: 1019]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83740053  1.10405293  0.01975841] yaw=-142.5deg	[env.py: 1019]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:44:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.8ms, total=157.8ms	[env.py: 1075]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.407, 0.020)	[env.py: 1079]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.4 deg	[env.py: 1082]
+05/11 07:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:44:10 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:44:10 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]
+05/11 07:44:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:44:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:44:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:44:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.407[m] 92.067[deg]	[grasp_sample.py: 539]
+05/11 07:44:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:44:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:44:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:44:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.473[m] 81.584[deg]	[grasp_sample.py: 539]
+05/11 07:44:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:44:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:44:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:44:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:44:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:44:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:44:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:44:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:44:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:44:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.253[deg]	[grasp_sample.py: 539]
+05/11 07:44:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:44:16 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:44:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:44:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:37 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:44:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 07:44:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:44:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:44:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:44:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:44:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:44:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.79s (batch: 3.99s, save: 10.80s)	[pipeline.py: 300]
+05/11 07:44:52 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.77s:
+  episode_total: mean=179.91s, total=179.91s, count=1, min=179911.0ms, max=179911.0ms
+  sensor_polling: mean=404.7ms, total=121.40s, count=300, min=312.7ms, max=678.2ms
+  save_trajectories: mean=10.80s, total=10.80s, count=1, min=10799.6ms, max=10799.6ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=13.8ms, max=33.7ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3991.5ms, max=3991.5ms
+  task_sampling: mean=770.7ms, total=770.7ms, count=1, min=770.7ms, max=770.7ms
+  task_specific_sample: mean=767.3ms, total=767.3ms, count=1, min=767.3ms, max=767.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=344.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:44:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:44:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:44:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:44:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:44:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:44:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092179m	[env.py: 870]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:44:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71203412  0.42006425  0.0921786 ] yaw=167.8deg	[env.py: 1019]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87513553  0.76141481  0.0921786 ] yaw=-151.3deg	[env.py: 1019]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79448535  0.95386002  0.0921786 ] yaw=-161.8deg	[env.py: 1019]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:44:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.9ms, total=131.9ms	[env.py: 1075]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.712, 0.420, 0.092)	[env.py: 1079]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
+05/11 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:44:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:44:54 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:44:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:44:54 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]
+05/11 07:44:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:44:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:44:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:44:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 94.766[deg]	[grasp_sample.py: 539]
+05/11 07:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:44:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:44:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:44:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:45:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:45:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:45:48 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:45:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:45:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:45:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:45:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:46:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:46:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:46:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.52s (batch: 3.60s, save: 8.92s)	[pipeline.py: 300]
+05/11 07:46:01 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.75s:
+  episode_total: mean=126.47s, total=252.94s, count=2, min=113825.5ms, max=139113.4ms
+  sensor_polling: mean=321.9ms, total=189.26s, count=588, min=297.0ms, max=958.0ms
+  physics_step: mean=19.2ms, total=11.31s, count=588, min=13.9ms, max=28.3ms
+  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8922.8ms, max=8922.8ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3597.9ms, max=3597.9ms
+  task_sampling: mean=373.3ms, total=746.7ms, count=2, min=290.3ms, max=456.4ms
+  task_specific_sample: mean=369.0ms, total=738.0ms, count=2, min=285.9ms, max=452.1ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.8ms
+  mj_forward_sync: mean=419.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.1us, 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]
+05/11 07:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:46:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:46:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:46:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:46:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:46:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:46:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:46:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055467m	[env.py: 870]
+05/11 07:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:46:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96658808  0.66531543  0.05546656] yaw=-172.6deg	[env.py: 1019]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73571382  0.68858578  0.05546656] yaw=-173.9deg	[env.py: 1019]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78560116  0.52943672  0.05546656] yaw=-182.7deg	[env.py: 1019]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:46:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.6ms, total=211.7ms	[env.py: 1075]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.665, 0.055)	[env.py: 1079]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
+05/11 07:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/11 07:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:46:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:46:03 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:46:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:46:03 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]
+05/11 07:46:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:46:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:46:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:46:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.292[m] 78.489[deg]	[grasp_sample.py: 539]
+05/11 07:46:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:46:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:46:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:46:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:46:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:46:06 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]
+05/11 07:46:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:46:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:46:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.073s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:46:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.321[deg]	[grasp_sample.py: 539]
+05/11 07:46:09 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 07:46:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:46:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:46:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:46:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:46:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:46:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:46:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022263m	[env.py: 870]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:46:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87746018  0.03148434  0.02226327] yaw=162.0deg	[env.py: 1019]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90326582  0.8383732   0.02226327] yaw=-156.0deg	[env.py: 1019]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19626177  1.09760343  0.02226327] yaw=-125.8deg	[env.py: 1019]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:46:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=160.7ms, total=160.8ms	[env.py: 1075]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.031, 0.022)	[env.py: 1079]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.0 deg	[env.py: 1082]
+05/11 07:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:46:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:46:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:46:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:46:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:46:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:46:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:46:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:46:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.518[m] 91.228[deg]	[grasp_sample.py: 539]
+05/11 07:46:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:46:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:46:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:46:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:46:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:46:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:46:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:46:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:46:37 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:46:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 07:46:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:46:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:46:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:46:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.38s (batch: 3.32s, save: 9.07s)	[pipeline.py: 300]
+05/11 07:46:50 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.70s:
+  episode_total: mean=83.95s, total=167.91s, count=2, min=7311.3ms, max=160598.4ms
+  sensor_polling: mean=391.7ms, total=117.50s, count=300, min=286.6ms, max=744.4ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9066.3ms, max=9066.3ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=17.2ms, max=55.0ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3315.5ms, max=3315.5ms
+  task_sampling: mean=351.1ms, total=702.1ms, count=2, min=331.4ms, max=370.7ms
+  task_specific_sample: mean=347.3ms, total=694.5ms, count=2, min=328.3ms, max=366.3ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=497.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:46:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:46:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:46:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:46:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:46:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:46:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:46:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021746m	[env.py: 870]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:46:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87515978  0.30977199  0.02174624] yaw=179.4deg	[env.py: 1019]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8995344   0.91627436  0.02174624] yaw=-150.0deg	[env.py: 1019]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81069643  0.266249    0.02174624] yaw=170.4deg	[env.py: 1019]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:46:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=135.2ms, total=135.3ms	[env.py: 1075]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.310, 0.022)	[env.py: 1079]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
+05/11 07:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:46:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:46:52 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:46:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:46:52 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]
+05/11 07:46:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:46:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:46:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:46:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:46:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 95.553[deg]	[grasp_sample.py: 539]
+05/11 07:46:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:46:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:46:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:46:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:47:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:47:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:47:24 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:47:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:47:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:47:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:47:44 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:47:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:47:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 07:47:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:47:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:48:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:48:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.64s (batch: 3.54s, save: 9.10s)	[pipeline.py: 300]
+05/11 07:48:01 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.39s:
+  episode_total: mean=187.01s, total=187.01s, count=1, min=187008.0ms, max=187008.0ms
+  sensor_polling: mean=395.6ms, total=118.69s, count=300, min=303.8ms, max=773.5ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9104.2ms, max=9104.2ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.2ms, max=53.5ms
+  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3540.4ms, max=3540.4ms
+  task_sampling: mean=386.8ms, total=386.8ms, count=1, min=386.8ms, max=386.8ms
+  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=517.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:48:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:48:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:48:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:48:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:48:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:48:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:48:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028696m	[env.py: 870]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:48:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80639691  0.57828089  0.0286958 ] yaw=-176.1deg	[env.py: 1019]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93774672  0.47255464  0.0286958 ] yaw=177.7deg	[env.py: 1019]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69247762  0.4078384   0.0286958 ] yaw=183.2deg	[env.py: 1019]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:48:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.5ms, total=130.5ms	[env.py: 1075]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.578, 0.029)	[env.py: 1079]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg	[env.py: 1082]
+05/11 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:48:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:48:03 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:48:03 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]
+05/11 07:48:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:48:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:48:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:48:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:48:03 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/11 07:48:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:48:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.427[m] 83.822[deg]	[grasp_sample.py: 539]
+05/11 07:48:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:48:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:48:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:48:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:48:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:48:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.30s (batch: 3.21s, save: 8.09s)	[pipeline.py: 300]
+05/11 07:48:14 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.45s:
+  episode_total: mean=131.94s, total=131.94s, count=1, min=131942.4ms, max=131942.4ms
+  sensor_polling: mean=329.1ms, total=91.48s, count=278, min=301.5ms, max=676.1ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8090.8ms, max=8090.8ms
+  physics_step: mean=19.8ms, total=5.51s, count=278, min=14.0ms, max=27.7ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3209.7ms, max=3209.7ms
+  task_sampling: mean=446.9ms, total=446.9ms, count=1, min=446.9ms, max=446.9ms
+  task_specific_sample: mean=443.0ms, total=443.0ms, count=1, min=443.0ms, max=443.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:48:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:48:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009659m	[env.py: 870]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05237574  1.16688469  0.00965925] yaw=-126.1deg	[env.py: 1019]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90889035  0.08813156  0.00965925] yaw=153.0deg	[env.py: 1019]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07609709  1.13410544  0.00965925] yaw=-128.8deg	[env.py: 1019]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.3ms, total=139.3ms	[env.py: 1075]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 1.167, 0.010)	[env.py: 1079]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.1 deg	[env.py: 1082]
+05/11 07:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:48:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:48:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:48:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:48:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:48:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.053s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:48:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.526[m] 94.303[deg]	[grasp_sample.py: 539]
+05/11 07:48:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:48:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:48:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:48:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:48:30 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]
+05/11 07:48:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:48:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:48:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:48:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 1.018[deg]	[grasp_sample.py: 539]
+05/11 07:48:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:48:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:48:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:48:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:48:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:48:37 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]
+05/11 07:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:48:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:48:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.679[deg]	[grasp_sample.py: 539]
+05/11 07:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:48:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:48:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:48:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:48:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:48:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:48:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 07:48:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:49:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:49:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:49:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:49:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:49:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.17s (batch: 3.65s, save: 8.53s)	[pipeline.py: 300]
+05/11 07:49:10 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.92s:
+  episode_total: mean=149.25s, total=298.49s, count=2, min=119936.1ms, max=178557.2ms
+  sensor_polling: mean=356.4ms, total=205.62s, count=577, min=284.3ms, max=782.4ms
+  physics_step: mean=21.0ms, total=12.12s, count=577, min=12.2ms, max=37.3ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8525.1ms, max=8525.1ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.6ms, max=3647.6ms
+  task_sampling: mean=458.8ms, total=917.6ms, count=2, min=403.1ms, max=514.5ms
+  task_specific_sample: mean=453.4ms, total=906.8ms, count=2, min=395.9ms, max=510.9ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=637.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=32.3us, 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]
+05/11 07:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:49:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061078m	[env.py: 870]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02224211  0.95070688  0.06107795] yaw=-144.3deg	[env.py: 1019]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84990296  0.23427661  0.06107795] yaw=161.7deg	[env.py: 1019]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00426161  0.88299572  0.06107795] yaw=-151.3deg	[env.py: 1019]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.5ms	[env.py: 1075]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.951, 0.061)	[env.py: 1079]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg	[env.py: 1082]
+05/11 07:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:49:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:49:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:49:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:49:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:49:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:49:12 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:49:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:49:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.393[m] 84.665[deg]	[grasp_sample.py: 539]
+05/11 07:49:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:49:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:49:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:49:38 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:49:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 07:49:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:49:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:49:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:49:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:49:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.29s (batch: 4.10s, save: 9.19s)	[pipeline.py: 300]
+05/11 07:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:52 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.37s:
+  episode_total: mean=180.03s, total=180.03s, count=1, min=180028.1ms, max=180028.1ms
+  sensor_polling: mean=403.9ms, total=121.18s, count=300, min=297.5ms, max=736.4ms
+  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9188.1ms, max=9188.1ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=13.1ms, max=30.1ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.1ms, max=4104.1ms
+  task_sampling: mean=367.4ms, total=367.4ms, count=1, min=367.4ms, max=367.4ms
+  task_specific_sample: mean=363.2ms, total=363.2ms, count=1, min=363.2ms, max=363.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=579.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:49:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:49:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:49:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057979m	[env.py: 870]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77068527  0.1962852   0.05797879] yaw=166.1deg	[env.py: 1019]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65471753  0.5069788   0.05797879] yaw=-168.7deg	[env.py: 1019]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64890121  0.48772428  0.05797879] yaw=-183.2deg	[env.py: 1019]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.5ms, total=163.5ms	[env.py: 1075]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.196, 0.058)	[env.py: 1079]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
+05/11 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:49:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:49:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:49:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:49:53 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]
+05/11 07:49:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:49:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.769s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:49:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.520[m] 91.565[deg]	[grasp_sample.py: 539]
+05/11 07:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:49:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:49:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:49:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:49:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:49:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:49:56 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]
+05/11 07:49:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:49:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:49:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.992s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:49:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.323[deg]	[grasp_sample.py: 539]
+05/11 07:49:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:49:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:49:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:50:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:50:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:50:14 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:50:15 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:50:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:50:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:50:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:50:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 07:50:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:50:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:50:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:50:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:50:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.55s (batch: 3.18s, save: 9.37s)	[pipeline.py: 300]
+05/11 07:50:47 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.37s:
+  episode_total: mean=151.23s, total=151.23s, count=1, min=151225.1ms, max=151225.1ms
+  sensor_polling: mean=325.1ms, total=97.54s, count=300, min=302.1ms, max=728.0ms
+  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9373.5ms, max=9373.5ms
+  physics_step: mean=19.4ms, total=5.81s, count=300, min=13.9ms, max=31.6ms
+  save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3176.3ms, max=3176.3ms
+  task_sampling: mean=374.6ms, total=374.6ms, count=1, min=374.6ms, max=374.6ms
+  task_specific_sample: mean=371.0ms, total=371.0ms, count=1, min=371.0ms, max=371.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=417.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:50:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:50:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:50:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:50:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:50:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:50:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:50:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093415m	[env.py: 870]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:50:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00067084  1.32859544  0.09341472] yaw=-124.8deg	[env.py: 1019]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84199682  1.11095162  0.09341472] yaw=-144.1deg	[env.py: 1019]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7372181   0.67136582  0.09341472] yaw=-174.5deg	[env.py: 1019]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:50:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms	[env.py: 1075]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 1.329, 0.093)	[env.py: 1079]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg	[env.py: 1082]
+05/11 07:50:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:50:48 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:50:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:50:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:50:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:50:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:50:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.228s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 07:50:51 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 07:50:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:50:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:50:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087152m	[env.py: 870]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84428821  0.69183647  0.08715227] yaw=-162.4deg	[env.py: 1019]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04344777  1.13375225  0.08715227] yaw=-129.7deg	[env.py: 1019]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01654184  1.04369207  0.08715227] yaw=-141.5deg	[env.py: 1019]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.9ms, total=358.0ms	[env.py: 1075]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.692, 0.087)	[env.py: 1079]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
+05/11 07:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:50:53 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:50:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:50:53 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]
+05/11 07:50:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:50:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:50:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:50:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 90.239[deg]	[grasp_sample.py: 539]
+05/11 07:50:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:50:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:50:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:50:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:50:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:50:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:50:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.94s (batch: 4.51s, save: 10.43s)	[pipeline.py: 300]
+05/11 07:50:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
+  episode_total: mean=173.13s, total=173.13s, count=1, min=173129.1ms, max=173129.1ms
+  sensor_polling: mean=404.2ms, total=121.25s, count=300, min=290.8ms, max=717.8ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10429.2ms, max=10429.2ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=15.9ms, max=41.1ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.1ms, max=4511.1ms
+  task_sampling: mean=402.5ms, total=402.5ms, count=1, min=402.5ms, max=402.5ms
+  task_specific_sample: mean=399.3ms, total=399.3ms, count=1, min=399.3ms, max=399.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=359.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:50:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:50:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:50:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:50:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087696m	[env.py: 870]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.0ms, total=170.1ms	[env.py: 1105]
+05/11 07:50:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/11 07:50:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/11 07:50:57 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:50:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:50:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:50:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:50:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:50:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:50:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049795m	[env.py: 870]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:50:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62753447  0.24884352  0.04979457] yaw=160.6deg	[env.py: 1019]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02327407  1.19977871  0.04979457] yaw=-124.0deg	[env.py: 1019]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.7ms, total=175.7ms	[env.py: 1075]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.249, 0.050)	[env.py: 1079]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
+05/11 07:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:50:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:50:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:50:59 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]
+05/11 07:50:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:50:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:51:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.268s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:51:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.692[m] 94.201[deg]	[grasp_sample.py: 539]
+05/11 07:51:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:51:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:51:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:51:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:51:19 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:51:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 07:51:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:51:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:51:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:51:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:51:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:51:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.07s (batch: 3.97s, save: 10.10s)	[pipeline.py: 300]
+05/11 07:51:33 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.33s:
+  episode_total: mean=141.66s, total=141.66s, count=1, min=141664.1ms, max=141664.1ms
+  sensor_polling: mean=322.9ms, total=96.87s, count=300, min=289.2ms, max=785.0ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10104.2ms, max=10104.2ms
+  physics_step: mean=19.1ms, total=5.72s, count=300, min=13.6ms, max=28.9ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3968.6ms, max=3968.6ms
+  task_sampling: mean=332.2ms, total=332.2ms, count=1, min=332.2ms, max=332.2ms
+  task_specific_sample: mean=329.0ms, total=329.0ms, count=1, min=329.0ms, max=329.0ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=350.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:51:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:51:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:51:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:51:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:51:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:51:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:51:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074215m	[env.py: 870]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:51:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86704091  0.99138409  0.07421459] yaw=-142.2deg	[env.py: 1019]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75078048 -0.03090412  0.07421459] yaw=145.9deg	[env.py: 1019]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97497294  1.07073501  0.07421459] yaw=-148.4deg	[env.py: 1019]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:51:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.6ms, total=152.6ms	[env.py: 1075]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 0.991, 0.074)	[env.py: 1079]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
+05/11 07:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:51:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:51:35 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:51:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:51:35 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]
+05/11 07:51:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:51:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:51:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:51:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:51:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 83.649[deg]	[grasp_sample.py: 539]
+05/11 07:51:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:52:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:52:11 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]
+05/11 07:52:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:52:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:52:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:52:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.241[deg]	[grasp_sample.py: 539]
+05/11 07:52:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 07:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:52:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:52:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:52:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:52:15 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: 256]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020974m	[env.py: 870]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00669321  0.10529448  0.02097428] yaw=157.3deg	[env.py: 1019]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72020888  0.90344079  0.02097428] yaw=-159.4deg	[env.py: 1019]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62763885  0.51372737  0.02097428] yaw=-182.7deg	[env.py: 1019]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.7ms, total=138.7ms	[env.py: 1075]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.105, 0.021)	[env.py: 1079]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg	[env.py: 1082]
+05/11 07:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:52:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:52:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:52:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:52:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:52:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:52:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.364[m] 88.476[deg]	[grasp_sample.py: 539]
+05/11 07:52:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:52:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:52:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:52:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:52:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:52:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:52:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:52:50 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]
+05/11 07:52:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:52:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:52:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:52:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.300[deg]	[grasp_sample.py: 539]
+05/11 07:52:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:52:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:52:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:52:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:52:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:52:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:53:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:53:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:53:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:53:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:53:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.49s (batch: 2.89s, save: 9.60s)	[pipeline.py: 300]
+05/11 07:53:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.94s:
+  episode_total: mean=70.50s, total=141.00s, count=2, min=2766.5ms, max=138234.8ms
+  sensor_polling: mean=320.2ms, total=96.06s, count=300, min=303.6ms, max=689.0ms
+  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9597.2ms, max=9597.2ms
+  physics_step: mean=19.2ms, total=5.77s, count=300, min=14.1ms, max=26.4ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2888.2ms, max=2888.2ms
+  task_sampling: mean=470.0ms, total=940.1ms, count=2, min=376.5ms, max=563.6ms
+  task_specific_sample: mean=466.1ms, total=932.2ms, count=2, min=372.1ms, max=560.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=532.5us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=28.3us, 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]
+05/11 07:53:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:53:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:53:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:53:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:53:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:53:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:53:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009360m	[env.py: 870]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:53:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90043285  0.78438197  0.00936036] yaw=-151.9deg	[env.py: 1019]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88149428  0.04241561  0.00936036] yaw=156.3deg	[env.py: 1019]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96646073  0.9924203   0.00936036] yaw=-146.0deg	[env.py: 1019]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:53:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.1ms	[env.py: 1075]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.784, 0.009)	[env.py: 1079]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
+05/11 07:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:53:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:53:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:53:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:53:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:53:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:53:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:53:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:53:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 89.359[deg]	[grasp_sample.py: 539]
+05/11 07:53:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:53:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:53:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:53:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:53:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:53:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:53:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:53:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:53:27 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.881[deg]	[grasp_sample.py: 539]
+05/11 07:53:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:53:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:53:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:39 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:53:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 07:53:42 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.41s:
+  episode_total: mean=81.83s, total=163.66s, count=2, min=182.3ms, max=163474.6ms
+  sensor_polling: mean=438.0ms, total=131.40s, count=300, min=327.9ms, max=810.0ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=12.4ms, max=46.1ms
+  task_specific_sample: mean=292.5ms, total=585.0ms, count=2, min=176.6ms, max=408.4ms
+  task_sampling: mean=412.2ms, total=412.2ms, count=1, min=412.2ms, max=412.2ms
+  task_sampling_failed: mean=182.2ms, total=182.2ms, count=1, min=182.2ms, max=182.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=490.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:53:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:53:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:53:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:53:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:53:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:53:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:53:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:53:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:53:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:53:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:53:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052929m	[env.py: 870]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:53:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88036454  1.07088915  0.05292934] yaw=-151.5deg	[env.py: 1019]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03029218  0.86807524  0.05292934] yaw=-154.8deg	[env.py: 1019]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07137725  1.08634216  0.05292934] yaw=-137.0deg	[env.py: 1019]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:53:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=209.2ms, total=209.2ms	[env.py: 1075]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 1.071, 0.053)	[env.py: 1079]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
+05/11 07:53:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/11 07:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:53:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:53:44 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:53:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:53:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:53:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:53:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:53:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:53:49 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.602[m] 91.679[deg]	[grasp_sample.py: 539]
+05/11 07:53:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:53:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:53:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:53:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:53:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:53:59 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:53:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 07:53:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:54:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:54:11 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]
+05/11 07:54:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:54:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:54:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:54:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.028[m] 0.630[deg]	[grasp_sample.py: 539]
+05/11 07:54:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:54:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:54:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:54:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:54:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.13s (batch: 6.77s, save: 9.36s)	[pipeline.py: 300]
+05/11 07:54:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
+  episode_total: mean=161.70s, total=161.70s, count=1, min=161701.5ms, max=161701.5ms
+  sensor_polling: mean=374.8ms, total=112.44s, count=300, min=288.9ms, max=829.4ms
+  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9355.3ms, max=9355.3ms
+  save_batch_prep: mean=6.77s, total=6.77s, count=1, min=6774.0ms, max=6774.0ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=13.0ms, max=54.5ms
+  task_sampling: mean=450.2ms, total=450.2ms, count=1, min=450.2ms, max=450.2ms
+  task_specific_sample: mean=446.9ms, total=446.9ms, count=1, min=446.9ms, max=446.9ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=343.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:54:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:54:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:54:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:54:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:54:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:54:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:54:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097951m	[env.py: 870]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:54:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87915515  0.8836585   0.09795112] yaw=-155.6deg	[env.py: 1019]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99309929  0.11727117  0.09795112] yaw=147.9deg	[env.py: 1019]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80150735  0.58436688  0.09795112] yaw=-175.0deg	[env.py: 1019]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.9ms, total=294.0ms	[env.py: 1075]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.884, 0.098)	[env.py: 1079]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.6 deg	[env.py: 1082]
+05/11 07:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:54:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:54:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:54:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:54:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:54:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:54:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:54:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 86.302[deg]	[grasp_sample.py: 539]
+05/11 07:54:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:54:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:54:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:54:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:54:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:54:58 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:55:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:55:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:55:04 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:55:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:55:18 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:55:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:55:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:55:28 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:55:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 07:55:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:55:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:55:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:55:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.56s (batch: 3.17s, save: 9.39s)	[pipeline.py: 300]
+05/11 07:55:31 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.41s:
+  episode_total: mean=139.35s, total=139.35s, count=1, min=139353.6ms, max=139353.6ms
+  sensor_polling: mean=324.6ms, total=97.39s, count=300, min=300.6ms, max=698.6ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9391.0ms, max=9391.0ms
+  physics_step: mean=19.2ms, total=5.75s, count=300, min=13.9ms, max=26.2ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3168.3ms, max=3168.3ms
+  task_sampling: mean=406.2ms, total=406.2ms, count=1, min=406.2ms, max=406.2ms
+  task_specific_sample: mean=401.8ms, total=401.8ms, count=1, min=401.8ms, max=401.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:55:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:55:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:55:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:55:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:55:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:55:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:55:32 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: 256]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020641m	[env.py: 870]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:55:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80489995  0.32217351  0.02064051] yaw=171.8deg	[env.py: 1019]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80478524  0.89780537  0.02064051] yaw=-147.4deg	[env.py: 1019]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.60837963  0.59169158  0.02064051] yaw=-168.9deg	[env.py: 1019]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:55:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.6ms	[env.py: 1075]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.322, 0.021)	[env.py: 1079]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.8 deg	[env.py: 1082]
+05/11 07:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:55:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:55:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:55:33 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:55:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:55:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:55:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:55:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.418[m] 80.086[deg]	[grasp_sample.py: 539]
+05/11 07:55:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:55:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:55:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:55:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:55:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:55:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:55:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.01s (batch: 3.84s, save: 9.16s)	[pipeline.py: 300]
+05/11 07:55:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.79s:
+  episode_total: mean=173.74s, total=347.48s, count=2, min=140558.7ms, max=206919.0ms
+  sensor_polling: mean=417.4ms, total=242.49s, count=581, min=300.3ms, max=838.5ms
+  physics_step: mean=22.0ms, total=12.79s, count=581, min=12.5ms, max=65.2ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9163.1ms, max=9163.1ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3842.2ms, max=3842.2ms
+  task_sampling: mean=395.1ms, total=790.2ms, count=2, min=372.5ms, max=417.8ms
+  task_specific_sample: mean=391.3ms, total=782.6ms, count=2, min=369.3ms, max=413.3ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.5ms, max=1.9ms
+  mj_forward_sync: mean=464.6us, total=0.9ms, count=2, min=0.3ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:55:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:55:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:55:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:55:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:55:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:55:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:55:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008525m	[env.py: 870]
+05/11 07:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:55:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96988753  1.04373923  0.00852487] yaw=-148.6deg	[env.py: 1019]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66736143  0.75997302  0.00852487] yaw=-175.1deg	[env.py: 1019]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09824831  1.10807368  0.00852487] yaw=-131.1deg	[env.py: 1019]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:55:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.0ms, total=149.1ms	[env.py: 1075]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 1.044, 0.009)	[env.py: 1079]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg	[env.py: 1082]
+05/11 07:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/11 07:55:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:55:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:55:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:55:44 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:55:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:55:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:55:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:55:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:55:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:55:47 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.488[m] 77.353[deg]	[grasp_sample.py: 539]
+05/11 07:55:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:55:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:55:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:56:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:56:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:56:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:56:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:56:15 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:56:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:56:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:56:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 07:56:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:56:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:56:35 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:56:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 07:56:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:56:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:56:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:56:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.30s (batch: 3.61s, save: 8.70s)	[pipeline.py: 300]
+05/11 07:56:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=178.53s, total=178.53s, count=1, min=178527.0ms, max=178527.0ms
+  sensor_polling: mean=406.2ms, total=121.86s, count=300, min=308.6ms, max=839.8ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8695.5ms, max=8695.5ms
+  physics_step: mean=21.5ms, total=6.44s, count=300, min=13.7ms, max=49.7ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3606.4ms, max=3606.4ms
+  task_sampling: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms
+  task_specific_sample: mean=430.5ms, total=430.5ms, count=1, min=430.5ms, max=430.5ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=599.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:56:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:56:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:56:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:56:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:56:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:56:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:56:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004937m	[env.py: 870]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:56:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98421097  0.8673688   0.00493746] yaw=-157.8deg	[env.py: 1019]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92712004  0.25090187  0.00493746] yaw=174.7deg	[env.py: 1019]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62359468  0.60537589  0.00493746] yaw=-172.5deg	[env.py: 1019]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:56:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.7ms, total=218.7ms	[env.py: 1075]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.867, 0.005)	[env.py: 1079]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg	[env.py: 1082]
+05/11 07:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:56:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:56:44 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:56:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:56:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:56:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:56:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:56:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.669s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:56:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 91.388[deg]	[grasp_sample.py: 539]
+05/11 07:56:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:56:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:56:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:56:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:56:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:56:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.92s (batch: 4.55s, save: 9.37s)	[pipeline.py: 300]
+05/11 07:56:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.58s:
+  episode_total: mean=150.85s, total=150.85s, count=1, min=150848.5ms, max=150848.5ms
+  sensor_polling: mean=353.6ms, total=106.08s, count=300, min=293.5ms, max=748.7ms
+  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9366.5ms, max=9366.5ms
+  physics_step: mean=20.8ms, total=6.24s, count=300, min=13.3ms, max=28.3ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.9ms, max=4550.9ms
+  task_sampling: mean=575.6ms, total=575.6ms, count=1, min=575.6ms, max=575.6ms
+  task_specific_sample: mean=571.9ms, total=571.9ms, count=1, min=571.9ms, max=571.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=398.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:56:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:56:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:56:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:56:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:56:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012456m	[env.py: 870]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98990167  0.11925241  0.0124564 ] yaw=154.1deg	[env.py: 1019]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90008281  0.47788403  0.0124564 ] yaw=190.0deg	[env.py: 1019]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84327564  0.82608257  0.0124564 ] yaw=-151.7deg	[env.py: 1019]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:56:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=209.6ms, total=209.7ms	[env.py: 1075]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.119, 0.012)	[env.py: 1079]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.1 deg	[env.py: 1082]
+05/11 07:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:56:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:56:53 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:56:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:56:53 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]
+05/11 07:56:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:56:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:56:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:56:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.333[m] 82.787[deg]	[grasp_sample.py: 539]
+05/11 07:56:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:56:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:56:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:56:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:57:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:57:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:57:22 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:57:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:57:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:57:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:57:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:57:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:57:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:57:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:57:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:57:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:57:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.59s (batch: 2.96s, save: 8.63s)	[pipeline.py: 300]
+05/11 07:57:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
+  episode_total: mean=140.54s, total=140.54s, count=1, min=140541.5ms, max=140541.5ms
+  sensor_polling: mean=320.9ms, total=96.26s, count=300, min=297.3ms, max=683.1ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8626.8ms, max=8626.8ms
+  physics_step: mean=21.2ms, total=6.35s, count=300, min=13.9ms, max=33.2ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2963.0ms, max=2963.0ms
+  task_sampling: mean=395.7ms, total=395.7ms, count=1, min=395.7ms, max=395.7ms
+  task_specific_sample: mean=391.9ms, total=391.9ms, count=1, min=391.9ms, max=391.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=428.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:57:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:57:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:57:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:57:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:57:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:57:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:57:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062187m	[env.py: 870]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:57:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71273055  0.72223406  0.06218738] yaw=-168.4deg	[env.py: 1019]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87040889  0.52703156  0.06218738] yaw=-186.7deg	[env.py: 1019]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6561371   0.72393577  0.06218738] yaw=-156.7deg	[env.py: 1019]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.3ms	[env.py: 1075]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.713, 0.722, 0.062)	[env.py: 1079]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
+05/11 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:57:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:57:54 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:57:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:57:54 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]
+05/11 07:57:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:57:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:57:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:57:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 91.069[deg]	[grasp_sample.py: 539]
+05/11 07:57:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:57:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:57:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:57:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:57:56 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 07:58:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 07:58:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 07:58:15 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]
+05/11 07:58:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:58:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:58:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:58:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.173[deg]	[grasp_sample.py: 539]
+05/11 07:58:17 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 07:58:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:58:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 07:58:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:58:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:58:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:58:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:58:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:58:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:58:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:58:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018246m	[env.py: 870]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:58:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84697212  0.87289268  0.01824575] yaw=-158.1deg	[env.py: 1019]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00478212  1.21190757  0.01824575] yaw=-132.5deg	[env.py: 1019]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81635376  0.18192751  0.01824575] yaw=167.5deg	[env.py: 1019]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:58:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.8ms, total=179.9ms	[env.py: 1075]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.873, 0.018)	[env.py: 1079]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/11 07:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:58:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:58:20 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:58:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:58:20 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]
+05/11 07:58:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:58:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:58:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:58:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 97.570[deg]	[grasp_sample.py: 539]
+05/11 07:58:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:58:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:58:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:58:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:58:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:58:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:58:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.40s (batch: 4.17s, save: 12.23s)	[pipeline.py: 300]
+05/11 07:58:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:58:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.43s:
+  episode_total: mean=172.79s, total=172.79s, count=1, min=172789.2ms, max=172789.2ms
+  sensor_polling: mean=383.4ms, total=115.01s, count=300, min=292.4ms, max=805.0ms
+  save_trajectories: mean=12.23s, total=12.23s, count=1, min=12228.4ms, max=12228.4ms
+  physics_step: mean=20.4ms, total=6.12s, count=300, min=13.2ms, max=34.2ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4170.4ms, max=4170.4ms
+  task_sampling: mean=429.2ms, total=429.2ms, count=1, min=429.2ms, max=429.2ms
+  task_specific_sample: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=454.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.6us, 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]
+05/11 07:58:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:58:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:58:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:58:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:58:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:58:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:58:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058243m	[env.py: 870]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:58:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70081164  0.53176573  0.05824337] yaw=-168.2deg	[env.py: 1019]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65106098  0.48610459  0.05824337] yaw=-186.5deg	[env.py: 1019]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96717971  1.2257108   0.05824337] yaw=-129.0deg	[env.py: 1019]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:58:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=151.0ms, total=151.0ms	[env.py: 1075]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.532, 0.058)	[env.py: 1079]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg	[env.py: 1082]
+05/11 07:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:58:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:58:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:58:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:58:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 07:58:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:58:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:58:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:58:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.523[m] 78.958[deg]	[grasp_sample.py: 539]
+05/11 07:58:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:58:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:58:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:58:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:58:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:58:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:58:51 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:59:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:59:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:59:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 07:59:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 07:59:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:59:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:59:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 07:59:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 07:59:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.08s (batch: 3.40s, save: 8.67s)	[pipeline.py: 300]
+05/11 07:59:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
+  episode_total: mean=161.74s, total=161.74s, count=1, min=161743.0ms, max=161743.0ms
+  sensor_polling: mean=394.5ms, total=118.36s, count=300, min=293.9ms, max=843.6ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8673.2ms, max=8673.2ms
+  physics_step: mean=20.7ms, total=6.22s, count=300, min=17.0ms, max=29.5ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3403.7ms, max=3403.7ms
+  task_sampling: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms
+  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=398.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 07:59:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:59:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 07:59:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 07:59:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:59:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 07:59:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 07:59:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 07:59:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044368m	[env.py: 870]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 07:59:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90076592  0.22074354  0.04436817] yaw=167.9deg	[env.py: 1019]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83582099  0.72243433  0.04436817] yaw=-172.8deg	[env.py: 1019]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 07:59:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.1ms	[env.py: 1075]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.221, 0.044)	[env.py: 1079]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
+05/11 07:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 07:59:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 07:59:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 07:59:26 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 07:59:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 07:59:27 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]
+05/11 07:59:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 07:59:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 07:59:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 07:59:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.415[m] 87.106[deg]	[grasp_sample.py: 539]
+05/11 07:59:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 07:59:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 07:59:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:59:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 07:59:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 07:59:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 07:59:40 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 07:59:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 07:59:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 07:59:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:00:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:00:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:00:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:00:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.46s (batch: 2.86s, save: 8.59s)	[pipeline.py: 300]
+05/11 08:00:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
+  episode_total: mean=136.60s, total=136.60s, count=1, min=136601.9ms, max=136601.9ms
+  sensor_polling: mean=321.9ms, total=96.57s, count=300, min=300.0ms, max=865.5ms
+  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8593.3ms, max=8593.3ms
+  physics_step: mean=19.2ms, total=5.75s, count=300, min=13.9ms, max=29.6ms
+  save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2861.7ms, max=2861.7ms
+  task_sampling: mean=433.9ms, total=433.9ms, count=1, min=433.9ms, max=433.9ms
+  task_specific_sample: mean=430.1ms, total=430.1ms, count=1, min=430.1ms, max=430.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=406.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:00:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:00:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:00:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:00:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:00:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:00:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:00:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:00:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073117m	[env.py: 870]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:00:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85988258  0.7073161   0.07311686] yaw=-155.3deg	[env.py: 1019]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90356459  0.82700666  0.07311686] yaw=-164.8deg	[env.py: 1019]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=465.5ms, total=465.5ms	[env.py: 1075]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.707, 0.073)	[env.py: 1079]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
+05/11 08:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:00:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:00:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:00:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:00:13 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]
+05/11 08:00:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:00:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:00:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.688s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:00:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 88.428[deg]	[grasp_sample.py: 539]
+05/11 08:00:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:00:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:00:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:00:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:00:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:00:25 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:00:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:00:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:00:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 08:00:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:00:51 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:00:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:00:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:01:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:01:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.43s (batch: 4.03s, save: 9.40s)	[pipeline.py: 300]
+05/11 08:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:01:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:01:03 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]
+05/11 08:01:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:01:03 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.89s:
+  episode_total: mean=124.39s, total=248.79s, count=2, min=84965.6ms, max=163820.6ms
+  sensor_polling: mean=386.8ms, total=183.75s, count=475, min=301.3ms, max=802.1ms
+  physics_step: mean=22.4ms, total=10.66s, count=475, min=13.4ms, max=29.5ms
+  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.2ms, max=9400.2ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4025.8ms, max=4025.8ms
+  task_sampling: mean=445.0ms, total=890.0ms, count=2, min=419.4ms, max=470.5ms
+  task_specific_sample: mean=441.6ms, total=883.2ms, count=2, min=416.7ms, max=466.5ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.9ms, max=2.5ms
+  mj_forward_sync: mean=428.5us, total=0.9ms, count=2, min=0.3ms, max=0.5ms
+  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:01:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:01:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:01:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.639[deg]	[grasp_sample.py: 539]
+05/11 08:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:01:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:01:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:01:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:01:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:01:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:01:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:01:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005684m	[env.py: 870]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:01:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89718645  1.20478628  0.00568413] yaw=-146.5deg	[env.py: 1019]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75077171  0.10559506  0.00568413] yaw=169.8deg	[env.py: 1019]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.2210244   1.08756402  0.00568413] yaw=-122.9deg	[env.py: 1019]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:01:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.1ms	[env.py: 1075]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 1.205, 0.006)	[env.py: 1079]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.5 deg	[env.py: 1082]
+05/11 08:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:01:05 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:01:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:01:05 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]
+05/11 08:01:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:01:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.882s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 08:01:07 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 08:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:01:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:01:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:01:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:01:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076795m	[env.py: 870]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89037906  0.73689047  0.07679502] yaw=-153.6deg	[env.py: 1019]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00705983  1.20828968  0.07679502] yaw=-130.0deg	[env.py: 1019]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88037583  0.85921898  0.07679502] yaw=-151.0deg	[env.py: 1019]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.9ms, total=65.9ms	[env.py: 1075]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.737, 0.077)	[env.py: 1079]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg	[env.py: 1082]
+05/11 08:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:01:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:01:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:01:09 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]
+05/11 08:01:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:01:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.170s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:01:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 79.097[deg]	[grasp_sample.py: 539]
+05/11 08:01:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:01:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:01:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:01:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 08:01:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:01:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:01:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:01:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.01s (batch: 3.15s, save: 8.86s)	[pipeline.py: 300]
+05/11 08:01:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=166.03s, total=166.03s, count=1, min=166030.7ms, max=166030.7ms
+  sensor_polling: mean=409.4ms, total=122.82s, count=300, min=287.1ms, max=798.8ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.0ms, max=8857.0ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=17.1ms, max=28.4ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3154.0ms, max=3154.0ms
+  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
+  task_specific_sample: mean=427.0ms, total=427.0ms, count=1, min=427.0ms, max=427.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=516.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:01:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:01:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:01:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:01:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:01:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:01:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044774m	[env.py: 870]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:01:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03480046  1.2184108   0.04477364] yaw=-141.3deg	[env.py: 1019]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8642113   0.9635795   0.04477364] yaw=-149.9deg	[env.py: 1019]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70554803  0.314094    0.04477364] yaw=167.3deg	[env.py: 1019]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:01:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.3ms, total=298.4ms	[env.py: 1075]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.218, 0.045)	[env.py: 1079]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
+05/11 08:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:01:25 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:01:26 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]
+05/11 08:01:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:01:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:01:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:01:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:01:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.621[m] 88.617[deg]	[grasp_sample.py: 539]
+05/11 08:01:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:01:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:01:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:01:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:01:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:01:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:01:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079617m	[env.py: 870]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:01:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91889549  0.43706657  0.07961696] yaw=187.4deg	[env.py: 1019]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71225402  0.1299484   0.07961696] yaw=167.7deg	[env.py: 1019]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93306167  0.19717578  0.07961696] yaw=159.9deg	[env.py: 1019]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:01:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.1ms, total=112.1ms	[env.py: 1075]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.437, 0.080)	[env.py: 1079]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.4 deg	[env.py: 1082]
+05/11 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:01:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:01:31 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:01:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:01:31 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]
+05/11 08:01:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:01:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:01:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:01:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.344[m] 91.481[deg]	[grasp_sample.py: 539]
+05/11 08:01:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:01:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:01:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:01:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:01:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:01:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:01:58 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:02:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:02:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:02:02 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]
+05/11 08:02:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:02:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:02:05 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.925s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:02:05 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.046[m] 5.878[deg]	[grasp_sample.py: 539]
+05/11 08:02:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:02:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:02:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:02:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:02:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:02:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:02:13 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:02:18 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:02:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:02:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:02:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:02:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:02:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.92s (batch: 3.20s, save: 8.71s)	[pipeline.py: 300]
+05/11 08:02:30 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
+  episode_total: mean=138.34s, total=138.34s, count=1, min=138343.8ms, max=138343.8ms
+  sensor_polling: mean=321.3ms, total=96.39s, count=300, min=294.5ms, max=781.9ms
+  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8711.1ms, max=8711.1ms
+  physics_step: mean=19.4ms, total=5.82s, count=300, min=13.9ms, max=28.1ms
+  save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3203.9ms, max=3203.9ms
+  task_sampling: mean=723.4ms, total=723.4ms, count=1, min=723.4ms, max=723.4ms
+  task_specific_sample: mean=719.4ms, total=719.4ms, count=1, min=719.4ms, max=719.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=422.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, 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]
+05/11 08:02:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:02:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:02:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:02:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:02:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:02:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:02:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069824m	[env.py: 870]
+05/11 08:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:02:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11085699  0.95508983  0.06982441] yaw=-132.2deg	[env.py: 1019]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8054421   0.5881264   0.06982441] yaw=-170.2deg	[env.py: 1019]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.62376651  0.49146409  0.06982441] yaw=-179.0deg	[env.py: 1019]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:02:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.3ms, total=272.3ms	[env.py: 1075]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.111, 0.955, 0.070)	[env.py: 1079]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.2 deg	[env.py: 1082]
+05/11 08:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
+05/11 08:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:02:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:02:32 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:02:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:02:32 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]
+05/11 08:02:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:02:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:02:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:02:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 98.307[deg]	[grasp_sample.py: 539]
+05/11 08:02:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:02:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:02:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:02:38 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:02:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:02:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:02:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:02:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:02:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.09s (batch: 4.02s, save: 11.07s)	[pipeline.py: 300]
+05/11 08:02:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s:
+  episode_total: mean=207.53s, total=207.53s, count=1, min=207532.2ms, max=207532.2ms
+  sensor_polling: mean=399.5ms, total=119.84s, count=300, min=288.0ms, max=865.2ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11072.2ms, max=11072.2ms
+  physics_step: mean=21.9ms, total=6.57s, count=300, min=11.5ms, max=47.7ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4016.6ms, max=4016.6ms
+  task_sampling: mean=503.9ms, total=503.9ms, count=1, min=503.9ms, max=503.9ms
+  task_specific_sample: mean=500.4ms, total=500.4ms, count=1, min=500.4ms, max=500.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=401.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:02:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:02:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:02:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:02:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:02:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:02:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:02:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003872m	[env.py: 870]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:02:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86888185  0.42988223  0.0038718 ] yaw=170.5deg	[env.py: 1019]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75111163  0.40659749  0.0038718 ] yaw=175.2deg	[env.py: 1019]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77620664  0.512248    0.0038718 ] yaw=-168.9deg	[env.py: 1019]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:02:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.0ms, total=81.1ms	[env.py: 1075]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.430, 0.004)	[env.py: 1079]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
+05/11 08:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:02:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:02:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:02:55 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:02:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:02:55 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]
+05/11 08:02:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:02:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:02:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:02:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.393[m] 90.282[deg]	[grasp_sample.py: 539]
+05/11 08:02:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:02:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:02:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:02:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:02:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:03:01 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:03:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:03:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:03:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:03:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 08:03:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:03:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:03:30 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:03:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:03:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:03:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.36s (batch: 4.60s, save: 8.77s)	[pipeline.py: 300]
+05/11 08:03:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
+  episode_total: mean=75.42s, total=150.84s, count=2, min=2457.8ms, max=148385.7ms
+  sensor_polling: mean=340.4ms, total=102.12s, count=300, min=294.8ms, max=803.7ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8766.2ms, max=8766.2ms
+  physics_step: mean=20.0ms, total=6.01s, count=300, min=17.3ms, max=32.0ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4596.2ms, max=4596.2ms
+  task_sampling: mean=361.9ms, total=723.7ms, count=2, min=286.9ms, max=436.8ms
+  task_specific_sample: mean=358.6ms, total=717.3ms, count=2, min=283.8ms, max=433.4ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=428.3us, total=0.9ms, count=2, min=0.3ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:03:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:03:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:03:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:03:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:03:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:03:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047356m	[env.py: 870]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01758169  1.12769218  0.04735649] yaw=-129.8deg	[env.py: 1019]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97101306  1.04533148  0.04735649] yaw=-138.4deg	[env.py: 1019]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:03:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=154.0ms, total=154.0ms	[env.py: 1075]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.128, 0.047)	[env.py: 1079]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
+05/11 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:03:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:03:39 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:03:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:03:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:03:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:03:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:03:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:03:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.182s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:03:44 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.545[m] 95.455[deg]	[grasp_sample.py: 539]
+05/11 08:03:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:03:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:03:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:03:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089159m	[env.py: 870]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74210208  0.3906367   0.08915923] yaw=184.1deg	[env.py: 1019]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85521854  0.10700714  0.08915923] yaw=149.7deg	[env.py: 1019]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms	[env.py: 1075]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.391, 0.089)	[env.py: 1079]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.1 deg	[env.py: 1082]
+05/11 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:03:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:03:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:03:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:03:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:03:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:03:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 91.185[deg]	[grasp_sample.py: 539]
+05/11 08:03:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:03:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:03:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:03:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 08:03:53 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/11 08:04:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:04:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:04:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.84s (batch: 3.89s, save: 9.95s)	[pipeline.py: 300]
+05/11 08:04:07 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.95s:
+  episode_total: mean=80.55s, total=161.11s, count=2, min=4450.0ms, max=156658.8ms
+  sensor_polling: mean=370.6ms, total=107.48s, count=290, min=286.9ms, max=785.6ms
+  save_trajectories: mean=9.95s, total=9.95s, count=1, min=9951.1ms, max=9951.1ms
+  physics_step: mean=21.8ms, total=6.32s, count=290, min=13.2ms, max=32.5ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3893.1ms, max=3893.1ms
+  task_sampling: mean=474.1ms, total=948.3ms, count=2, min=363.5ms, max=584.8ms
+  task_specific_sample: mean=471.0ms, total=941.9ms, count=2, min=360.5ms, max=581.4ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.0ms, max=2.2ms
+  mj_forward_sync: mean=399.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:04:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:04:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:04:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:04:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:04:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:04:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:04:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047249m	[env.py: 870]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:04:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62795353  0.49808936  0.04724901] yaw=-169.0deg	[env.py: 1019]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70053193  0.63285452  0.04724901] yaw=-162.6deg	[env.py: 1019]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88585168  0.63850957  0.04724901] yaw=-164.9deg	[env.py: 1019]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:04:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms	[env.py: 1075]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.498, 0.047)	[env.py: 1079]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
+05/11 08:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:04:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:04:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:04:09 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.173s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:04:09 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]
+05/11 08:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:04:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:04:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 82.144[deg]	[grasp_sample.py: 539]
+05/11 08:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:04:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:04:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:04:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:04:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:04:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:04:37 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:04:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:04:37 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/11 08:04:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:04:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:04:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:04:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.22s (batch: 3.18s, save: 9.04s)	[pipeline.py: 300]
+05/11 08:04:50 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.51s:
+  episode_total: mean=138.65s, total=138.65s, count=1, min=138647.3ms, max=138647.3ms
+  sensor_polling: mean=325.3ms, total=95.97s, count=295, min=300.1ms, max=1057.6ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9036.7ms, max=9036.7ms
+  physics_step: mean=19.5ms, total=5.74s, count=295, min=13.6ms, max=27.1ms
+  save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3178.6ms, max=3178.6ms
+  task_sampling: mean=514.3ms, total=514.3ms, count=1, min=514.3ms, max=514.3ms
+  task_specific_sample: mean=510.3ms, total=510.3ms, count=1, min=510.3ms, max=510.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, 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]
+05/11 08:04:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:04:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:04:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:04:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:04:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:04:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:04:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065272m	[env.py: 870]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:04:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85251935  0.49898294  0.06527229] yaw=-183.6deg	[env.py: 1019]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75318504  0.14340417  0.06527229] yaw=161.1deg	[env.py: 1019]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89255466  0.52611706  0.06527229] yaw=-166.8deg	[env.py: 1019]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:04:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=84.1ms, total=84.2ms	[env.py: 1075]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.499, 0.065)	[env.py: 1079]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.6 deg	[env.py: 1082]
+05/11 08:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:04:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:04:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:04:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:04:52 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]
+05/11 08:04:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:04:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:04:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:04:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 79.594[deg]	[grasp_sample.py: 539]
+05/11 08:04:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:04:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:04:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:13 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:05:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:05:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:05:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:05:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:05:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:05:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:05:33 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:05:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:05:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:05:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 18.349s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:05:36 INFO: [Worker 0] Feasible grasp found 174 (originally 59): w/ 0.230[m] 10.275[deg]	[grasp_sample.py: 539]
+05/11 08:05:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:05:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:05:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:05:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:05:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.68s (batch: 3.19s, save: 8.49s)	[pipeline.py: 300]
+05/11 08:05:45 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.39s:
+  episode_total: mean=169.88s, total=169.88s, count=1, min=169884.9ms, max=169884.9ms
+  sensor_polling: mean=395.2ms, total=118.56s, count=300, min=298.2ms, max=775.1ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8485.5ms, max=8485.5ms
+  physics_step: mean=20.7ms, total=6.21s, count=300, min=16.9ms, max=30.3ms
+  save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3189.5ms, max=3189.5ms
+  task_sampling: mean=390.3ms, total=390.3ms, count=1, min=390.3ms, max=390.3ms
+  task_specific_sample: mean=386.1ms, total=386.1ms, count=1, min=386.1ms, max=386.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=565.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:05:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:05:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:05:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:05:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:05:46 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: 256]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083523m	[env.py: 870]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85490315  0.48637716  0.08352327] yaw=-170.2deg	[env.py: 1019]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76550138  0.66897844  0.08352327] yaw=-160.3deg	[env.py: 1019]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91227022  0.07304887  0.08352327] yaw=148.0deg	[env.py: 1019]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=346.8ms, total=346.9ms	[env.py: 1075]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.486, 0.084)	[env.py: 1079]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.2 deg	[env.py: 1082]
+05/11 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:05:47 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:05:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:05:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:05:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:05:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:05:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 79.438[deg]	[grasp_sample.py: 539]
+05/11 08:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:05:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:05:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:05:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:05:51 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]
+05/11 08:05:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:05:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:05:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:05:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:05:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:05:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:05:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:05:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:05:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.110[deg]	[grasp_sample.py: 539]
+05/11 08:05:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:05:56 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:06:09 INFO: [Worker 0] Feasibility-checked 82 grasps in 17.080s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:06:09 INFO: [Worker 0] Feasible grasp found 137 (originally 22): w/ 0.177[m] 10.686[deg]	[grasp_sample.py: 539]
+05/11 08:06:10 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:06:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:06:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:06:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:06:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:06:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034330m	[env.py: 870]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00190522  1.17242851  0.03432986] yaw=-134.5deg	[env.py: 1019]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90391167  0.82454056  0.03432986] yaw=-146.6deg	[env.py: 1019]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9464136   0.46051818  0.03432986] yaw=187.9deg	[env.py: 1019]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:06:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.2ms	[env.py: 1075]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 1.172, 0.034)	[env.py: 1079]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/11 08:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:06:12 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:06:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:06:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.283s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:06:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.583[m] 97.579[deg]	[grasp_sample.py: 539]
+05/11 08:06:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:06:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:06:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:06:19 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:06:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 08:06:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:06:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:06:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:06:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:06:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:06:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.39s (batch: 4.45s, save: 8.94s)	[pipeline.py: 300]
+05/11 08:06:33 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.74s:
+  episode_total: mean=86.24s, total=172.49s, count=2, min=6668.5ms, max=165817.1ms
+  sensor_polling: mean=366.4ms, total=109.93s, count=300, min=295.7ms, max=817.6ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8936.9ms, max=8936.9ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.2ms, max=36.8ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4448.7ms, max=4448.7ms
+  task_sampling: mean=370.8ms, total=741.6ms, count=2, min=361.2ms, max=380.3ms
+  task_specific_sample: mean=367.7ms, total=735.3ms, count=2, min=358.4ms, max=376.9ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=0.9ms, max=2.1ms
+  mj_forward_sync: mean=367.1us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:06:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:06:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:06:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:06:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021720m	[env.py: 870]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88624697  0.2066418   0.02172044] yaw=158.7deg	[env.py: 1019]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91154573  1.21513048  0.02172044] yaw=-140.1deg	[env.py: 1019]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:06:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.4ms	[env.py: 1075]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.207, 0.022)	[env.py: 1079]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
+05/11 08:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/11 08:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:06:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:06:35 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:06:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:06:35 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]
+05/11 08:06:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:06:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:06:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:06:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.412[m] 83.233[deg]	[grasp_sample.py: 539]
+05/11 08:06:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:06:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:06:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:06:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:06:39 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:06:58 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:06:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:06:58 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/11 08:07:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:07:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.62s (batch: 3.07s, save: 8.55s)	[pipeline.py: 300]
+05/11 08:07:10 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.33s:
+  episode_total: mean=138.92s, total=138.92s, count=1, min=138915.3ms, max=138915.3ms
+  sensor_polling: mean=328.2ms, total=95.83s, count=292, min=304.4ms, max=722.5ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8551.5ms, max=8551.5ms
+  physics_step: mean=21.1ms, total=6.17s, count=292, min=13.9ms, max=34.4ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3073.3ms, max=3073.3ms
+  task_sampling: mean=326.3ms, total=326.3ms, count=1, min=326.3ms, max=326.3ms
+  task_specific_sample: mean=322.3ms, total=322.3ms, count=1, min=322.3ms, max=322.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=440.8us, 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]
+05/11 08:07:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:07:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:07:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:07:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:07:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:07:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:07:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011018m	[env.py: 870]
+05/11 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:07:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18360911  1.12972528  0.01101786] yaw=-135.3deg	[env.py: 1019]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69200718  0.86833341  0.01101786] yaw=-149.5deg	[env.py: 1019]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66545109  0.19933947  0.01101786] yaw=166.7deg	[env.py: 1019]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms	[env.py: 1075]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.184, 1.130, 0.011)	[env.py: 1079]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg	[env.py: 1082]
+05/11 08:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/11 08:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:07:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:07:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:07:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:07:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:07:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:07:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:07:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:07:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 87.653[deg]	[grasp_sample.py: 539]
+05/11 08:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:07:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:07:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:07:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:07:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:08:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:08:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:08:12 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/11 08:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:08:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:08:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:08:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:24 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.061[m] 10.075[deg]	[grasp_sample.py: 539]
+05/11 08:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:08:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:08:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:08:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.298[deg]	[grasp_sample.py: 539]
+05/11 08:08:25 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:08:26 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:08:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:08:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:08:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:08:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:08:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:08:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:08:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080574m	[env.py: 870]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:08:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94184833  0.27236001  0.0805741 ] yaw=160.1deg	[env.py: 1019]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88565907  1.07997617  0.0805741 ] yaw=-143.6deg	[env.py: 1019]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11292455  1.07041011  0.0805741 ] yaw=-125.3deg	[env.py: 1019]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:08:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.6ms	[env.py: 1075]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.272, 0.081)	[env.py: 1079]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
+05/11 08:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/11 08:08:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:08:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:08:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.72s (batch: 4.05s, save: 10.68s)	[pipeline.py: 300]
+05/11 08:08:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:08:27 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:08:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:08:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:08:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:27 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.59s:
+  episode_total: mean=161.10s, total=161.10s, count=1, min=161102.2ms, max=161102.2ms
+  sensor_polling: mean=382.6ms, total=114.03s, count=298, min=291.8ms, max=818.4ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10676.1ms, max=10676.1ms
+  physics_step: mean=21.4ms, total=6.38s, count=298, min=13.3ms, max=28.6ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.9ms, max=4046.9ms
+  task_sampling: mean=590.4ms, total=590.4ms, count=1, min=590.4ms, max=590.4ms
+  task_specific_sample: mean=586.5ms, total=586.5ms, count=1, min=586.5ms, max=586.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=408.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:08:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.361[m] 94.657[deg]	[grasp_sample.py: 539]
+05/11 08:08:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:08:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:08:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:08:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:08:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:08:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:08:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:08:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:08:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089769m	[env.py: 870]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:08:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61319242  0.51048168  0.08976933] yaw=-189.0deg	[env.py: 1019]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03178567  1.09590105  0.08976933] yaw=-142.4deg	[env.py: 1019]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91193353  1.15411552  0.08976933] yaw=-140.4deg	[env.py: 1019]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:08:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.6ms, total=100.6ms	[env.py: 1075]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.613, 0.510, 0.090)	[env.py: 1079]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.0 deg	[env.py: 1082]
+05/11 08:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:08:28 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:08:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:08:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:08:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:08:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.653[m] 87.361[deg]	[grasp_sample.py: 539]
+05/11 08:08:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:08:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:08:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086407m	[env.py: 870]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87487205  0.27570776  0.08640719] yaw=170.8deg	[env.py: 1019]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91143044  0.72748223  0.08640719] yaw=-157.8deg	[env.py: 1019]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93465962  0.07794351  0.08640719] yaw=162.2deg	[env.py: 1019]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:08:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=165.1ms, total=165.1ms	[env.py: 1075]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.276, 0.086)	[env.py: 1079]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/11 08:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:08:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:08:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:08:29 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:08:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:08:30 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]
+05/11 08:08:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.122s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 89.824[deg]	[grasp_sample.py: 539]
+05/11 08:08:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:08:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:08:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:08:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:08:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:08:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:08:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:08:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.218[deg]	[grasp_sample.py: 539]
+05/11 08:08:42 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:08:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:08:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:08:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:08:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095877m	[env.py: 870]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78902959  0.58075145  0.09587748] yaw=-170.4deg	[env.py: 1019]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:08:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.6ms, total=180.6ms	[env.py: 1075]
+05/11 08:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.581, 0.096)	[env.py: 1079]
+05/11 08:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg	[env.py: 1082]
+05/11 08:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/11 08:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:08:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:08:44 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:08:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:08:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:08:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:08:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:08:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:08:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 95.423[deg]	[grasp_sample.py: 539]
+05/11 08:08:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:08:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:09:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:09:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:09:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:09:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:09:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:10:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:10:03 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]
+05/11 08:10:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:10:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:10:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:10:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.169[deg]	[grasp_sample.py: 539]
+05/11 08:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:05 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:10:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:10:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:10:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:10:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:10:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056660m	[env.py: 870]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:10:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7310433   0.84248923  0.05665975] yaw=-158.7deg	[env.py: 1019]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88207522  0.55232842  0.05665975] yaw=-171.0deg	[env.py: 1019]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66909799  0.42649199  0.05665975] yaw=187.6deg	[env.py: 1019]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.5ms	[env.py: 1075]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.842, 0.057)	[env.py: 1079]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg	[env.py: 1082]
+05/11 08:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/11 08:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:10:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:10:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:10:07 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]
+05/11 08:10:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:10:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:10:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 93.693[deg]	[grasp_sample.py: 539]
+05/11 08:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:09 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:10:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:10:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:10:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:10:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:10:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:10:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:10:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.689[deg]	[grasp_sample.py: 539]
+05/11 08:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:10:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036576m	[env.py: 870]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82983675  0.71464266  0.03657558] yaw=-164.3deg	[env.py: 1019]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85947509  0.84949304  0.03657558] yaw=-156.9deg	[env.py: 1019]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73681247  0.65412208  0.03657558] yaw=-181.2deg	[env.py: 1019]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.8ms, total=119.9ms	[env.py: 1075]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.715, 0.037)	[env.py: 1079]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg	[env.py: 1082]
+05/11 08:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:10:11 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:10:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:10:11 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]
+05/11 08:10:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:10:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:10:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:10:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 82.897[deg]	[grasp_sample.py: 539]
+05/11 08:10:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:10:12 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:10:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:10:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:10:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:10:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:10:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:10:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:10:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:10:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068377m	[env.py: 870]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:10:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80970536  0.68806836  0.06837663] yaw=-160.6deg	[env.py: 1019]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83479268  0.64821602  0.06837663] yaw=-177.8deg	[env.py: 1019]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80868265  0.14984678  0.06837663] yaw=165.9deg	[env.py: 1019]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:10:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=353.7ms, total=353.7ms	[env.py: 1075]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.688, 0.068)	[env.py: 1079]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg	[env.py: 1082]
+05/11 08:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:10:14 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:10:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:10:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:10:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 78.111[deg]	[grasp_sample.py: 539]
+05/11 08:10:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:10:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:10:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:10:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:10:17 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:10:26 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:10:40 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:10:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 08:10:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:10:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:10:48 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:10:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:10:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:10:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:10:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:10:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:10:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.28s (batch: 3.97s, save: 9.31s)	[pipeline.py: 300]
+05/11 08:10:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:10:54 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.74s:
+  episode_total: mean=128.55s, total=257.09s, count=2, min=111324.7ms, max=145768.4ms
+  sensor_polling: mean=358.5ms, total=187.16s, count=522, min=289.1ms, max=792.9ms
+  physics_step: mean=21.2ms, total=11.04s, count=522, min=14.7ms, max=50.2ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9312.1ms, max=9312.1ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3969.2ms, max=3969.2ms
+  task_sampling: mean=371.5ms, total=743.0ms, count=2, min=316.3ms, max=426.7ms
+  task_specific_sample: mean=368.3ms, total=736.6ms, count=2, min=313.5ms, max=423.0ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.0ms, max=2.2ms
+  mj_forward_sync: mean=428.4us, total=0.9ms, count=2, min=0.3ms, max=0.5ms
+  policy_setup: mean=17.0us, 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]
+05/11 08:10:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:10:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:10:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:10:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:10:55 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: 178]
+05/11 08:10:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:10:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041543m	[env.py: 870]
+05/11 08:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:10:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76561613  0.4932027   0.0415425 ] yaw=-180.3deg	[env.py: 1019]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74872175  0.44692273  0.0415425 ] yaw=172.4deg	[env.py: 1019]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92121725  0.46876568  0.0415425 ] yaw=172.2deg	[env.py: 1019]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:10:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms	[env.py: 1075]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, 0.493, 0.042)	[env.py: 1079]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.3 deg	[env.py: 1082]
+05/11 08:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/11 08:10:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:10:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:10:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:10:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:10:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:10:56 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:10:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:10:56 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]
+05/11 08:10:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:10:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:10:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:10:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.463[m] 84.532[deg]	[grasp_sample.py: 539]
+05/11 08:10:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:10:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:10:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:10:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:11:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:11:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:11:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.17s (batch: 3.38s, save: 8.79s)	[pipeline.py: 300]
+05/11 08:11:01 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.77s:
+  episode_total: mean=114.17s, total=228.34s, count=2, min=90652.9ms, max=137685.4ms
+  sensor_polling: mean=315.9ms, total=166.78s, count=528, min=299.4ms, max=716.5ms
+  physics_step: mean=19.2ms, total=10.11s, count=528, min=13.8ms, max=29.2ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8789.0ms, max=8789.0ms
+  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3378.1ms, max=3378.1ms
+  task_sampling: mean=387.0ms, total=774.1ms, count=2, min=375.6ms, max=398.5ms
+  task_specific_sample: mean=383.4ms, total=766.8ms, count=2, min=371.7ms, max=395.1ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=423.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:11:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:11:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:11:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:11:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:11:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:11:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:11:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:11:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:11:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:11:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069448m	[env.py: 870]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:11:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:11:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75756943  0.60161366  0.06944829] yaw=-164.8deg	[env.py: 1019]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6877882   0.80791452  0.06944829] yaw=-159.2deg	[env.py: 1019]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21811618  1.05635756  0.06944829] yaw=-119.6deg	[env.py: 1019]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:11:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.3ms, total=264.4ms	[env.py: 1075]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.602, 0.069)	[env.py: 1079]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
+05/11 08:11:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/11 08:11:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:11:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:11:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:11:03 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:11:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:11:03 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]
+05/11 08:11:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:11:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:11:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:11:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.543[m] 94.750[deg]	[grasp_sample.py: 539]
+05/11 08:11:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:11:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:11:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:11:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:11:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:11:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:11:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:11:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:11:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:11:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:12:22 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:12:25 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:12:43 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:12:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:12:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:12:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:12:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 08:12:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:12:48 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:12:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:12:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:12:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:12:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.37s (batch: 3.89s, save: 8.48s)	[pipeline.py: 300]
+05/11 08:12:56 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.10s:
+  episode_total: mean=132.57s, total=265.14s, count=2, min=102716.3ms, max=162427.0ms
+  sensor_polling: mean=403.3ms, total=202.84s, count=503, min=303.2ms, max=906.1ms
+  physics_step: mean=22.5ms, total=11.30s, count=503, min=14.5ms, max=31.2ms
+  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8480.6ms, max=8480.6ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3892.1ms, max=3892.1ms
+  task_sampling: mean=548.8ms, total=1.10s, count=2, min=408.6ms, max=689.1ms
+  task_specific_sample: mean=544.9ms, total=1.09s, count=2, min=405.1ms, max=684.7ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=2.1ms, max=2.2ms
+  mj_forward_sync: mean=479.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:12:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:12:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:12:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:12:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:12:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:12:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:12:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050667m	[env.py: 870]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:12:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07995001  0.95500178  0.05066665] yaw=-134.5deg	[env.py: 1019]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:12:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.3ms	[env.py: 1075]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.955, 0.051)	[env.py: 1079]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/11 08:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:12:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:12:57 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:12:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:12:57 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]
+05/11 08:12:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:12:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:12:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:12:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 87.313[deg]	[grasp_sample.py: 539]
+05/11 08:12:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:12:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:12:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:12:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:12:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:12:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.07s (batch: 3.68s, save: 9.39s)	[pipeline.py: 300]
+05/11 08:13:00 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.07s:
+  episode_total: mean=105.15s, total=525.74s, count=5, min=2971.4ms, max=169033.1ms
+  sensor_polling: mean=426.2ms, total=374.62s, count=879, min=293.5ms, max=951.7ms
+  physics_step: mean=21.2ms, total=18.60s, count=879, min=11.6ms, max=49.5ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9387.3ms, max=9387.3ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3684.9ms, max=3684.9ms
+  task_sampling: mean=414.3ms, total=2.07s, count=5, min=319.5ms, max=502.4ms
+  task_specific_sample: mean=410.1ms, total=2.05s, count=5, min=315.1ms, max=497.6ms
+  scene_randomize: mean=2.1ms, total=10.3ms, count=5, min=1.5ms, max=2.7ms
+  mj_forward_sync: mean=485.3us, total=2.4ms, count=5, min=0.3ms, max=0.6ms
+  policy_setup: mean=16.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:13:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:13:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:13:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:13:01 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: 178]
+05/11 08:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030011m	[env.py: 870]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88608676  0.51333028  0.03001117] yaw=-173.2deg	[env.py: 1019]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76711142  0.53201173  0.03001117] yaw=-184.3deg	[env.py: 1019]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89526963  0.81982063  0.03001117] yaw=-162.4deg	[env.py: 1019]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.7ms, total=168.8ms	[env.py: 1075]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.513, 0.030)	[env.py: 1079]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
+05/11 08:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:13:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:13:02 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:13:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:13:02 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]
+05/11 08:13:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:13:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:13:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:13:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.362[m] 91.325[deg]	[grasp_sample.py: 539]
+05/11 08:13:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:13:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:13:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:13:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:13:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:13:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:13:17 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:13:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 08:13:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:13:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:13:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:13:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.80s (batch: 3.24s, save: 8.57s)	[pipeline.py: 300]
+05/11 08:13:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s:
+  episode_total: mean=139.87s, total=139.87s, count=1, min=139870.9ms, max=139870.9ms
+  sensor_polling: mean=320.6ms, total=96.19s, count=300, min=298.4ms, max=761.1ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8566.9ms, max=8566.9ms
+  physics_step: mean=19.2ms, total=5.77s, count=300, min=13.9ms, max=27.6ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3236.9ms, max=3236.9ms
+  task_sampling: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
+  task_specific_sample: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=354.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:13:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:13:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:13:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:13:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:13:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:13:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:13:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:13:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:13:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093926m	[env.py: 870]
+05/11 08:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:13:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80635587  0.44811861  0.09392579] yaw=183.3deg	[env.py: 1019]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85934976  0.29100852  0.09392579] yaw=156.6deg	[env.py: 1019]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89612218  0.39218049  0.09392579] yaw=178.9deg	[env.py: 1019]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:13:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.7ms, total=170.7ms	[env.py: 1075]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.448, 0.094)	[env.py: 1079]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg	[env.py: 1082]
+05/11 08:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/11 08:13:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:13:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:13:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:13:24 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:13:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:13:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:13:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:13:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:13:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:13:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 90.629[deg]	[grasp_sample.py: 539]
+05/11 08:13:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:13:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:13:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:13:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:13:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:13:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.54s (batch: 3.77s, save: 8.76s)	[pipeline.py: 300]
+05/11 08:13:30 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.34s:
+  episode_total: mean=154.79s, total=154.79s, count=1, min=154787.2ms, max=154787.2ms
+  sensor_polling: mean=356.6ms, total=106.98s, count=300, min=291.8ms, max=795.1ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8765.0ms, max=8765.0ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=17.2ms, max=32.2ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3770.3ms, max=3770.3ms
+  task_sampling: mean=344.0ms, total=344.0ms, count=1, min=344.0ms, max=344.0ms
+  task_specific_sample: mean=339.8ms, total=339.8ms, count=1, min=339.8ms, max=339.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=524.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:13:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:13:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:13:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:13:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:13:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:13:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:13:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:13:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072291m	[env.py: 870]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:13:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68178175  0.17883997  0.07229078] yaw=154.0deg	[env.py: 1019]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.13657817  1.05214944  0.07229078] yaw=-134.2deg	[env.py: 1019]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79444773  0.42213548  0.07229078] yaw=179.0deg	[env.py: 1019]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:13:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=225.0ms	[env.py: 1075]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.179, 0.072)	[env.py: 1079]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg	[env.py: 1082]
+05/11 08:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:13:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:13:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:13:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:13:32 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]
+05/11 08:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:13:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:13:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.618[m] 89.133[deg]	[grasp_sample.py: 539]
+05/11 08:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:13:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:13:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:13:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:13:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:13:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:14:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:14:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:14:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:14:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:14:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:15:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:15:04 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:15:14 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:15:19 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:15:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:15:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:15:24 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/11 08:15:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:15:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:15:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.32s (batch: 3.32s, save: 10.00s)	[pipeline.py: 300]
+05/11 08:15:38 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s:
+  episode_total: mean=160.92s, total=160.92s, count=1, min=160921.6ms, max=160921.6ms
+  sensor_polling: mean=403.0ms, total=116.87s, count=290, min=280.9ms, max=840.9ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9999.4ms, max=9999.4ms
+  physics_step: mean=21.7ms, total=6.29s, count=290, min=16.8ms, max=49.1ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3317.7ms, max=3317.7ms
+  task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
+  task_specific_sample: mean=404.5ms, total=404.5ms, count=1, min=404.5ms, max=404.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=410.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:15:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:15:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:15:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:15:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:15:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:15:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:15:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043180m	[env.py: 870]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:15:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10858645  0.9500694   0.04318047] yaw=-133.0deg	[env.py: 1019]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92376918  0.48567438  0.04318047] yaw=-180.8deg	[env.py: 1019]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:15:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.9ms, total=186.9ms	[env.py: 1075]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.109, 0.950, 0.043)	[env.py: 1079]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.0 deg	[env.py: 1082]
+05/11 08:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:15:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:15:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 08:15:39 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/11 08:15:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:15:40 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:15:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:15:40 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]
+05/11 08:15:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:15:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:15:40 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:15:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:15:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:15:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:15:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 91.877[deg]	[grasp_sample.py: 539]
+05/11 08:15:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:15:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:15:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:15:44 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:15:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:15:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.80s (batch: 3.24s, save: 8.56s)	[pipeline.py: 300]
+05/11 08:15:53 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
+  episode_total: mean=149.16s, total=149.16s, count=1, min=149156.6ms, max=149156.6ms
+  sensor_polling: mean=321.6ms, total=96.47s, count=300, min=304.7ms, max=664.0ms
+  save_trajectories: mean=8.56s, total=8.56s, count=1, min=8559.4ms, max=8559.4ms
+  physics_step: mean=19.3ms, total=5.78s, count=300, min=13.8ms, max=30.8ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3235.9ms, max=3235.9ms
+  task_sampling: mean=405.8ms, total=405.8ms, count=1, min=405.8ms, max=405.8ms
+  task_specific_sample: mean=401.7ms, total=401.7ms, count=1, min=401.7ms, max=401.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=433.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.6us, 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]
+05/11 08:15:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:15:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:15:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.39s (batch: 4.28s, save: 9.10s)	[pipeline.py: 300]
+05/11 08:15:53 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s:
+  episode_total: mean=172.35s, total=172.35s, count=1, min=172350.7ms, max=172350.7ms
+  sensor_polling: mean=414.1ms, total=121.76s, count=294, min=301.3ms, max=808.0ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9101.0ms, max=9101.0ms
+  physics_step: mean=24.0ms, total=7.06s, count=294, min=13.1ms, max=29.7ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4284.7ms, max=4284.7ms
+  task_sampling: mean=456.7ms, total=456.7ms, count=1, min=456.7ms, max=456.7ms
+  task_specific_sample: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=584.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:15:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:15:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:15:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:15:54 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: 178]
+05/11 08:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:15:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053648m	[env.py: 870]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84558408  0.22475474  0.05364776] yaw=154.6deg	[env.py: 1019]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72939328  0.07231126  0.05364776] yaw=159.7deg	[env.py: 1019]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75044371  0.34267429  0.05364776] yaw=180.8deg	[env.py: 1019]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms	[env.py: 1075]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.225, 0.054)	[env.py: 1079]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg	[env.py: 1082]
+05/11 08:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:15:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:15:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:15:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:15:54 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]
+05/11 08:15:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:15:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:15:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:15:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:15:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:15:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024585m	[env.py: 870]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99261933  1.20707935  0.02458467] yaw=-136.4deg	[env.py: 1019]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93465273  0.95732588  0.02458467] yaw=-137.7deg	[env.py: 1019]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=199.9ms	[env.py: 1075]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 1.207, 0.025)	[env.py: 1079]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg	[env.py: 1082]
+05/11 08:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:15:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:15:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.451[m] 92.761[deg]	[grasp_sample.py: 539]
+05/11 08:15:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:15:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:15:55 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:15:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:15:55 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]
+05/11 08:15:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:15:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:15:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:15:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:15:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:15:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.077s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 74.916[deg]	[grasp_sample.py: 539]
+05/11 08:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:15:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:15:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:16:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 08:16:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:16:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:16:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:16:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:16:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.74s (batch: 4.58s, save: 8.16s)	[pipeline.py: 300]
+05/11 08:16:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=168.04s, total=168.04s, count=1, min=168037.7ms, max=168037.7ms
+  sensor_polling: mean=392.2ms, total=117.67s, count=300, min=292.4ms, max=766.9ms
+  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8157.0ms, max=8157.0ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.3ms, max=52.9ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4578.0ms, max=4578.0ms
+  task_sampling: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms
+  task_specific_sample: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=414.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/11 08:16:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:16:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:16:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:16:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:16:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:16:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:16:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099472m	[env.py: 870]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:16:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82203643  0.02717928  0.09947219] yaw=157.9deg	[env.py: 1019]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86476387  0.30412062  0.09947219] yaw=177.0deg	[env.py: 1019]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.1ms, total=191.1ms	[env.py: 1075]
+05/11 08:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.027, 0.099)	[env.py: 1079]
+05/11 08:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.9 deg	[env.py: 1082]
+05/11 08:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/11 08:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:16:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:16:22 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:16:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:16:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:16:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:16:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:16:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:16:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.575[m] 93.516[deg]	[grasp_sample.py: 539]
+05/11 08:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:16:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:16:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:16:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:16:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:16:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:16:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:17:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:17:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:17:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:17:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:17:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:17:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.390s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:17:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.767[deg]	[grasp_sample.py: 539]
+05/11 08:17:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:17:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:17:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:17:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:44 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:17:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:17:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:17:54 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]
+05/11 08:17:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:17:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:17:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 4.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:17:58 INFO: [Worker 0] Feasible grasp found 173 (originally 58): w/ 0.109[m] 13.818[deg]	[grasp_sample.py: 539]
+05/11 08:17:59 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:18:01 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:18:01 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:18:01 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/11 08:18:01 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=4202.93s
+  House averages:
+  episode_total: mean=130.14s, total=2342.46s, count=18, min=2971.4ms, max=206919.0ms
+  sensor_polling: mean=411.4ms, total=1629.47s, count=3961, min=286.6ms, max=951.7ms
+  physics_step: mean=22.1ms, total=87.64s, count=3961, min=11.6ms, max=65.2ms
+  save_trajectories: mean=9.61s, total=86.48s, count=9, min=8857.0ms, max=12228.4ms
+  save_batch_prep: mean=3.76s, total=33.87s, count=9, min=3154.0ms, max=4284.7ms
+  task_sampling: mean=553.4ms, total=9.96s, count=18, min=319.5ms, max=2911.7ms
+  task_specific_sample: mean=420.4ms, total=7.57s, count=18, min=315.1ms, max=585.8ms
+  scene_load: mean=2.32s, total=2.32s, count=1, min=2323.4ms, max=2323.4ms
+  scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.4ms, max=1484.4ms
+  scene_compile: mean=720.4ms, total=720.4ms, count=1, min=720.4ms, max=720.4ms
+  compile_mujoco: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms
+  compile_xml_load: mean=148.5ms, total=148.5ms, count=1, min=148.5ms, max=148.5ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  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=2.1ms, total=37.0ms, count=18, min=1.0ms, max=3.0ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  mj_forward_sync: mean=464.3us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 08:18:01 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 08:18:01 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=4202.93s
+  Worker averages:
+  episode_total: mean=130.14s, total=2342.46s, count=18, min=2971.4ms, max=206919.0ms
+  sensor_polling: mean=411.4ms, total=1629.47s, count=3961, min=286.6ms, max=951.7ms
+  physics_step: mean=22.1ms, total=87.64s, count=3961, min=11.6ms, max=65.2ms
+  save_trajectories: mean=9.61s, total=86.48s, count=9, min=8857.0ms, max=12228.4ms
+  save_batch_prep: mean=3.76s, total=33.87s, count=9, min=3154.0ms, max=4284.7ms
+  task_sampling: mean=553.4ms, total=9.96s, count=18, min=319.5ms, max=2911.7ms
+  task_specific_sample: mean=420.4ms, total=7.57s, count=18, min=315.1ms, max=585.8ms
+  scene_load: mean=2.32s, total=2.32s, count=1, min=2323.4ms, max=2323.4ms
+  scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.4ms, max=1484.4ms
+  scene_compile: mean=720.4ms, total=720.4ms, count=1, min=720.4ms, max=720.4ms
+  compile_mujoco: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms
+  compile_xml_load: mean=148.5ms, total=148.5ms, count=1, min=148.5ms, max=148.5ms
+  scene_init: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms
+  scene_asset_install: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  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=2.1ms, total=37.0ms, count=18, min=1.0ms, max=3.0ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  mj_forward_sync: mean=464.3us, total=8.4ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 08:18:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 08:18:03 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/11 08:18:03 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/11 08:18:05 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:18:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:18:05 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/11 08:18:12 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:18:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 08:18:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:18:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:18:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:18:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.36s (batch: 3.70s, save: 8.65s)	[pipeline.py: 300]
+05/11 08:18:18 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.49s:
+  episode_total: mean=158.82s, total=158.82s, count=1, min=158817.1ms, max=158817.1ms
+  sensor_polling: mean=400.2ms, total=114.86s, count=287, min=295.0ms, max=809.1ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8653.0ms, max=8653.0ms
+  physics_step: mean=21.9ms, total=6.28s, count=287, min=17.0ms, max=46.4ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3704.7ms, max=3704.7ms
+  task_sampling: mean=486.1ms, total=486.1ms, count=1, min=486.1ms, max=486.1ms
+  task_specific_sample: mean=482.2ms, total=482.2ms, count=1, min=482.2ms, max=482.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=405.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:18:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096128m	[env.py: 870]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91436081  0.51386645  0.09612807] yaw=-174.7deg	[env.py: 1019]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85634116  0.50752529  0.09612807] yaw=-177.2deg	[env.py: 1019]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75042922  0.50203597  0.09612807] yaw=-167.5deg	[env.py: 1019]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.7ms	[env.py: 1075]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.514, 0.096)	[env.py: 1079]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/11 08:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:18:20 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.168s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:18:20 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]
+05/11 08:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:18:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:18:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 96.409[deg]	[grasp_sample.py: 539]
+05/11 08:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:18:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:18:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:18:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.30s (batch: 3.49s, save: 8.81s)	[pipeline.py: 300]
+05/11 08:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:25 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=151.16s, total=151.16s, count=1, min=151161.4ms, max=151161.4ms
+  sensor_polling: mean=323.2ms, total=96.96s, count=300, min=306.4ms, max=737.1ms
+  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8809.7ms, max=8809.7ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.0ms, max=32.0ms
+  save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3489.6ms, max=3489.6ms
+  task_sampling: mean=431.7ms, total=431.7ms, count=1, min=431.7ms, max=431.7ms
+  task_specific_sample: mean=427.7ms, total=427.7ms, count=1, min=427.7ms, max=427.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=417.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:26 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:18:26 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:18:26 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes	[pipeline.py: 1323]
+05/11 08:18:26 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=4277.49s
+  House averages:
+  episode_total: mean=131.64s, total=2369.54s, count=18, min=2766.5ms, max=191497.7ms
+  sensor_polling: mean=322.2ms, total=1604.78s, count=4981, min=294.5ms, max=1057.6ms
+  save_trajectories: mean=8.84s, total=132.61s, count=15, min=8090.8ms, max=9597.2ms
+  physics_step: mean=19.6ms, total=97.79s, count=4981, min=13.0ms, max=34.4ms
+  save_batch_prep: mean=3.26s, total=48.87s, count=15, min=2861.7ms, max=4204.1ms
+  task_sampling: mean=575.4ms, total=10.36s, count=18, min=290.3ms, max=2944.1ms
+  task_specific_sample: mean=439.1ms, total=7.90s, count=18, min=285.9ms, max=719.4ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2383.5ms, max=2383.5ms
+  scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.3ms, max=1484.3ms
+  scene_compile: mean=729.5ms, total=729.5ms, count=1, min=729.5ms, max=729.5ms
+  compile_mujoco: mean=490.2ms, total=490.2ms, count=1, min=490.2ms, max=490.2ms
+  compile_xml_load: mean=142.9ms, total=142.9ms, count=1, min=142.9ms, max=142.9ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  compile_aux_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms
+  compile_aux_policy_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms
+  scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  scene_randomize: mean=2.3ms, total=41.6ms, count=18, min=1.3ms, max=2.9ms
+  asset_install_grasps: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  compile_robot_add: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=438.1us, total=7.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=22.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 08:18:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 08:18:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4277.49s
+  Worker averages:
+  episode_total: mean=131.64s, total=2369.54s, count=18, min=2766.5ms, max=191497.7ms
+  sensor_polling: mean=322.2ms, total=1604.78s, count=4981, min=294.5ms, max=1057.6ms
+  save_trajectories: mean=8.84s, total=132.61s, count=15, min=8090.8ms, max=9597.2ms
+  physics_step: mean=19.6ms, total=97.79s, count=4981, min=13.0ms, max=34.4ms
+  save_batch_prep: mean=3.26s, total=48.87s, count=15, min=2861.7ms, max=4204.1ms
+  task_sampling: mean=575.4ms, total=10.36s, count=18, min=290.3ms, max=2944.1ms
+  task_specific_sample: mean=439.1ms, total=7.90s, count=18, min=285.9ms, max=719.4ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2383.5ms, max=2383.5ms
+  scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.3ms, max=1484.3ms
+  scene_compile: mean=729.5ms, total=729.5ms, count=1, min=729.5ms, max=729.5ms
+  compile_mujoco: mean=490.2ms, total=490.2ms, count=1, min=490.2ms, max=490.2ms
+  compile_xml_load: mean=142.9ms, total=142.9ms, count=1, min=142.9ms, max=142.9ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  compile_aux_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms
+  compile_aux_policy_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms
+  scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  scene_randomize: mean=2.3ms, total=41.6ms, count=18, min=1.3ms, max=2.9ms
+  asset_install_grasps: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  compile_robot_add: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms
+  mj_forward_sync: mean=438.1us, total=7.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=22.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 08:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:18:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:18:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:18:27 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]
+05/11 08:18:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:18:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:18:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:18:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.195[deg]	[grasp_sample.py: 539]
+05/11 08:18:29 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 08:18:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 08:18:29 INFO: Success count: 15, Total count: 15	[pipeline.py: 1491]
+05/11 08:18:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 08:18:30 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:18:30 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:18:30 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/11 08:18:30 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4279.93s
+  House averages:
+  episode_total: mean=131.60s, total=2368.79s, count=18, min=2457.8ms, max=201302.1ms
+  sensor_polling: mean=364.1ms, total=1640.13s, count=4505, min=284.3ms, max=862.9ms
+  save_trajectories: mean=9.08s, total=99.85s, count=11, min=8157.0ms, max=10104.2ms
+  physics_step: mean=21.6ms, total=97.33s, count=4505, min=11.4ms, max=54.5ms
+  save_batch_prep: mean=4.36s, total=47.96s, count=11, min=3634.7ms, max=6774.0ms
+  task_sampling: mean=606.0ms, total=10.91s, count=18, min=286.9ms, max=3662.7ms
+  task_specific_sample: mean=435.1ms, total=7.83s, count=18, min=283.8ms, max=650.4ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3009.0ms, max=3009.0ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1845.6ms, max=1845.6ms
+  scene_compile: mean=998.4ms, total=998.4ms, count=1, min=998.4ms, max=998.4ms
+  compile_mujoco: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms
+  compile_xml_load: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
+  scene_init: mean=122.9ms, total=122.9ms, count=1, min=122.9ms, max=122.9ms
+  scene_asset_install: mean=41.8ms, total=41.8ms, count=1, min=41.8ms, max=41.8ms
+  compile_aux_objects: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_aux_policy_objects: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  scene_randomize: mean=2.0ms, total=36.0ms, count=18, min=0.9ms, max=3.4ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=437.2us, total=7.9ms, count=18, min=0.3ms, max=0.7ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=22.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 08:18:30 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 08:18:30 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4279.93s
+  Worker averages:
+  episode_total: mean=131.60s, total=2368.79s, count=18, min=2457.8ms, max=201302.1ms
+  sensor_polling: mean=364.1ms, total=1640.13s, count=4505, min=284.3ms, max=862.9ms
+  save_trajectories: mean=9.08s, total=99.85s, count=11, min=8157.0ms, max=10104.2ms
+  physics_step: mean=21.6ms, total=97.33s, count=4505, min=11.4ms, max=54.5ms
+  save_batch_prep: mean=4.36s, total=47.96s, count=11, min=3634.7ms, max=6774.0ms
+  task_sampling: mean=606.0ms, total=10.91s, count=18, min=286.9ms, max=3662.7ms
+  task_specific_sample: mean=435.1ms, total=7.83s, count=18, min=283.8ms, max=650.4ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3009.0ms, max=3009.0ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1845.6ms, max=1845.6ms
+  scene_compile: mean=998.4ms, total=998.4ms, count=1, min=998.4ms, max=998.4ms
+  compile_mujoco: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms
+  compile_xml_load: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
+  scene_init: mean=122.9ms, total=122.9ms, count=1, min=122.9ms, max=122.9ms
+  scene_asset_install: mean=41.8ms, total=41.8ms, count=1, min=41.8ms, max=41.8ms
+  compile_aux_objects: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_aux_policy_objects: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  scene_randomize: mean=2.0ms, total=36.0ms, count=18, min=0.9ms, max=3.4ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=437.2us, total=7.9ms, count=18, min=0.3ms, max=0.7ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  policy_setup: mean=22.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 08:18:33 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 08:18:33 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/11 08:18:33 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/11 08:18:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:18:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:18:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:20:09 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:20:29 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:20:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:20:29 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/11 08:20:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:20:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:20:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.95s (batch: 3.13s, save: 9.82s)	[pipeline.py: 300]
+05/11 08:20:42 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.56s:
+  episode_total: mean=143.07s, total=143.07s, count=1, min=143070.1ms, max=143070.1ms
+  sensor_polling: mean=334.2ms, total=99.58s, count=298, min=303.0ms, max=842.4ms
+  save_trajectories: mean=9.82s, total=9.82s, count=1, min=9815.3ms, max=9815.3ms
+  physics_step: mean=18.2ms, total=5.42s, count=298, min=14.0ms, max=19.7ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3134.3ms, max=3134.3ms
+  task_sampling: mean=563.4ms, total=563.4ms, count=1, min=563.4ms, max=563.4ms
+  task_specific_sample: mean=559.5ms, total=559.5ms, count=1, min=559.5ms, max=559.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=395.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=35.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:20:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:20:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:20:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:20:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:20:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:20:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:20:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079456m	[env.py: 870]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:20:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75322169  0.38221976  0.07945572] yaw=176.1deg	[env.py: 1019]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92452055  0.38290678  0.07945572] yaw=170.5deg	[env.py: 1019]
+05/11 08:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95512279  1.05361419  0.07945572] yaw=-139.5deg	[env.py: 1019]
+05/11 08:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 08:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:20:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.6ms, total=249.7ms	[env.py: 1075]
+05/11 08:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.382, 0.079)	[env.py: 1079]
+05/11 08:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.1 deg	[env.py: 1082]
+05/11 08:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/11 08:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:20:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:20:44 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:20:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:20:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:20:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:20:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:20:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:20:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 85.223[deg]	[grasp_sample.py: 539]
+05/11 08:20:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:20:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:20:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:20:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:21:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:21:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:21:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:22:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 08:22:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 08:22:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:22:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:22:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:22:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:22:22 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.143[deg]	[grasp_sample.py: 539]
+05/11 08:22:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:22:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:22:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:22:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:22:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:22:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:22:40 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:22:59 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:22:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:22:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:23:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:23:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:23:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.27s (batch: 2.96s, save: 8.31s)	[pipeline.py: 300]
+05/11 08:23:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=147.37s, total=147.37s, count=1, min=147370.8ms, max=147370.8ms
+  sensor_polling: mean=329.3ms, total=98.78s, count=300, min=303.3ms, max=885.1ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8307.5ms, max=8307.5ms
+  physics_step: mean=18.9ms, total=5.67s, count=300, min=13.1ms, max=23.0ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2962.2ms, max=2962.2ms
+  task_sampling: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms
+  task_specific_sample: mean=485.7ms, total=485.7ms, count=1, min=485.7ms, max=485.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=405.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:23:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 08:23:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 08:23:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:23:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 08:23:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 08:23:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 08:23:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071578m	[env.py: 870]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 08:23:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69573969  0.34553003  0.07157777] yaw=180.8deg	[env.py: 1019]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85308831  0.23995314  0.07157777] yaw=175.5deg	[env.py: 1019]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 08:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.6ms, total=223.6ms	[env.py: 1075]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.346, 0.072)	[env.py: 1079]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
+05/11 08:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 08:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 08:23:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 08:23:12 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 08:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 08:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 08:23:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 08:23:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 08:23:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 08:23:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.577[m] 90.880[deg]	[grasp_sample.py: 539]
+05/11 08:23:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 08:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 08:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:23:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 08:23:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:24:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 08:24:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 08:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:25:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:25:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 08:25:03 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 08:25:23 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/11 08:25:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 08:25:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 08:25:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 08:25:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_004	[save_utils.py: 785]
+05/11 08:25:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.42s (batch: 3.10s, save: 8.32s)	[pipeline.py: 300]
+05/11 08:25:34 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=142.54s, total=142.54s, count=1, min=142543.3ms, max=142543.3ms
+  sensor_polling: mean=328.0ms, total=98.40s, count=300, min=304.0ms, max=784.9ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.2ms, max=8316.2ms
+  physics_step: mean=19.1ms, total=5.72s, count=300, min=13.0ms, max=23.6ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3104.0ms, max=3104.0ms
+  task_sampling: mean=439.8ms, total=439.8ms, count=1, min=439.8ms, max=439.8ms
+  task_specific_sample: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=394.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 08:25:36 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:25:36 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/11 08:25:36 INFO: [Worker 0] Worker 0 completed house 1: 15/16 successful episodes	[pipeline.py: 1323]
+05/11 08:25:36 INFO: [Worker 0] [PROFILE] House 1 complete: 15/16 successful, 16 episodes, total_time=5072.40s
+  House averages:
+  episode_total: mean=155.64s, total=2801.57s, count=18, min=182.3ms, max=207532.2ms
+  sensor_polling: mean=390.2ms, total=1941.74s, count=4976, min=280.9ms, max=906.1ms
+  save_trajectories: mean=9.35s, total=140.31s, count=15, min=8307.5ms, max=11072.2ms
+  physics_step: mean=21.4ms, total=106.30s, count=4976, min=11.5ms, max=53.5ms
+  save_batch_prep: mean=3.61s, total=54.10s, count=15, min=2962.2ms, max=4511.1ms
+  task_sampling: mean=697.4ms, total=11.86s, count=17, min=386.8ms, max=4005.1ms
+  task_specific_sample: mean=482.2ms, total=8.68s, count=18, min=176.6ms, max=767.3ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3292.0ms, max=3292.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.6ms, max=1963.6ms
+  scene_compile: mean=947.5ms, total=947.5ms, count=1, min=947.5ms, max=947.5ms
+  compile_mujoco: mean=592.1ms, total=592.1ms, count=1, min=592.1ms, max=592.1ms
+  scene_init: mean=333.4ms, total=333.4ms, count=1, min=333.4ms, max=333.4ms
+  compile_xml_load: mean=274.7ms, total=274.7ms, count=1, min=274.7ms, max=274.7ms
+  task_sampling_failed: mean=182.2ms, total=182.2ms, count=1, min=182.2ms, max=182.2ms
+  compile_aux_objects: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
+  compile_aux_policy_objects: mean=52.7ms, total=52.7ms, count=1, min=52.7ms, max=52.7ms
+  scene_asset_install: mean=47.0ms, total=47.0ms, count=1, min=47.0ms, max=47.0ms
+  scene_randomize: mean=2.1ms, total=38.5ms, count=18, min=1.0ms, max=2.7ms
+  asset_install_grasps: mean=34.4ms, total=34.4ms, count=1, min=34.4ms, max=34.4ms
+  compile_robot_add: mean=16.9ms, total=16.9ms, count=1, min=16.9ms, max=16.9ms
+  asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms
+  mj_forward_sync: mean=438.4us, total=7.9ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=21.3us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 08:25:36 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 08:25:36 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5072.40s
+  Worker averages:
+  episode_total: mean=155.64s, total=2801.57s, count=18, min=182.3ms, max=207532.2ms
+  sensor_polling: mean=390.2ms, total=1941.74s, count=4976, min=280.9ms, max=906.1ms
+  save_trajectories: mean=9.35s, total=140.31s, count=15, min=8307.5ms, max=11072.2ms
+  physics_step: mean=21.4ms, total=106.30s, count=4976, min=11.5ms, max=53.5ms
+  save_batch_prep: mean=3.61s, total=54.10s, count=15, min=2962.2ms, max=4511.1ms
+  task_sampling: mean=697.4ms, total=11.86s, count=17, min=386.8ms, max=4005.1ms
+  task_specific_sample: mean=482.2ms, total=8.68s, count=18, min=176.6ms, max=767.3ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3292.0ms, max=3292.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.6ms, max=1963.6ms
+  scene_compile: mean=947.5ms, total=947.5ms, count=1, min=947.5ms, max=947.5ms
+  compile_mujoco: mean=592.1ms, total=592.1ms, count=1, min=592.1ms, max=592.1ms
+  scene_init: mean=333.4ms, total=333.4ms, count=1, min=333.4ms, max=333.4ms
+  compile_xml_load: mean=274.7ms, total=274.7ms, count=1, min=274.7ms, max=274.7ms
+  task_sampling_failed: mean=182.2ms, total=182.2ms, count=1, min=182.2ms, max=182.2ms
+  compile_aux_objects: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
+  compile_aux_policy_objects: mean=52.7ms, total=52.7ms, count=1, min=52.7ms, max=52.7ms
+  scene_asset_install: mean=47.0ms, total=47.0ms, count=1, min=47.0ms, max=47.0ms
+  scene_randomize: mean=2.1ms, total=38.5ms, count=18, min=1.0ms, max=2.7ms
+  asset_install_grasps: mean=34.4ms, total=34.4ms, count=1, min=34.4ms, max=34.4ms
+  compile_robot_add: mean=16.9ms, total=16.9ms, count=1, min=16.9ms, max=16.9ms
+  asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms
+  mj_forward_sync: mean=438.4us, total=7.9ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=21.3us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 08:25:38 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 08:25:38 INFO: Success count: 15, Total count: 16	[pipeline.py: 1491]
+05/11 08:25:38 INFO: Success rate: 93.75%	[pipeline.py: 1492]
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+05/11 10:43:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 10:43:59 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 10:43:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 10:43:59 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b16604f6bd0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30503,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 10:43:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 10:43:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 10:43:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 10:43:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 10:43:59 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 10:43:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 10:43:59 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x77ac042f8c50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30504,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 10:43:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 10:43:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 10:43:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 10:44:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 10:44:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 10:44:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 10:44:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 10:44:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 10:44:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 10:44:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 10:44:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 10:44:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:44:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015436m	[env.py: 870]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:44:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 10:44:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 10:44:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 10:44:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:44:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079291m	[env.py: 870]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:44:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91771461  0.87210464  0.01543605] yaw=-154.2deg	[env.py: 1019]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69322815  0.66823166  0.0792914 ] yaw=-175.8deg	[env.py: 1019]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92382054  0.63614264  0.0792914 ] yaw=-165.9deg	[env.py: 1019]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76933145  0.83004213  0.0792914 ] yaw=-155.8deg	[env.py: 1019]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.8ms, retries=286.4ms, total=308.2ms	[env.py: 1075]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.668, 0.079)	[env.py: 1079]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg	[env.py: 1082]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08368756  1.04602782  0.01543605] yaw=-133.7deg	[env.py: 1019]
+05/11 10:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94304738  0.19804317  0.01543605] yaw=162.0deg	[env.py: 1019]
+05/11 10:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:44:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=14.7ms, retries=488.8ms, total=503.4ms	[env.py: 1075]
+05/11 10:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.872, 0.015)	[env.py: 1079]
+05/11 10:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/11 10:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/11 10:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:03 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 10:44:03 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 10:44:03 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 10:44:03 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/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72018d699210>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30502,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 10:44:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 10:44:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 10:44:03 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 10:44:03 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 10:44:03 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 10:44:03 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 10:44:03 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/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x768eb31450d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 30501,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/11 10:44:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 10:44:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 10:44:03 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 10:44:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:44:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:44:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:44:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:44:03 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 10:44:03 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 10:44:05 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 10:44:05 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 10:44:05 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 10:44:05 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 10:44:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:44:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032477m	[env.py: 870]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:44:05 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78468685  0.10216643  0.03247655] yaw=150.0deg	[env.py: 1019]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96810107  0.70378137  0.03247655] yaw=-173.9deg	[env.py: 1019]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73012361  0.87466477  0.03247655] yaw=-148.0deg	[env.py: 1019]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=14.9ms, retries=146.9ms, total=161.8ms	[env.py: 1075]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.102, 0.032)	[env.py: 1079]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.0 deg	[env.py: 1082]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:05 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 10:44:05 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 10:44:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:44:05 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:44:05 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 10:44:05 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 10:44:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:44:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024703m	[env.py: 870]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:44:05 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 10:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68897597  0.84929324  0.02470285] yaw=-167.4deg	[env.py: 1019]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84257111  0.48606441  0.02470285] yaw=-169.6deg	[env.py: 1019]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7316686   0.10258469  0.02470285] yaw=163.7deg	[env.py: 1019]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=31.0ms, retries=419.9ms, total=451.0ms	[env.py: 1075]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.849, 0.025)	[env.py: 1079]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
+05/11 10:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/11 10:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:44:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:44:06 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 27.360s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:44:30 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]
+05/11 10:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 27.515s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:44:30 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]
+05/11 10:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:44:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.913s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:44:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.408[m] 84.118[deg]	[grasp_sample.py: 539]
+05/11 10:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:44:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:44:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.621[m] 96.502[deg]	[grasp_sample.py: 539]
+05/11 10:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:44:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:44:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:44:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:44:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:44:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:44:34 INFO: [Worker 0] Warmed up parallel IK solver in 28.198s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:44:34 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]
+05/11 10:44:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:44:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:44:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:44:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.538[m] 90.566[deg]	[grasp_sample.py: 539]
+05/11 10:44:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:44:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:44:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:44:35 INFO: [Worker 0] Warmed up parallel IK solver in 29.016s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:44:35 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]
+05/11 10:44:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:44:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:44:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:44:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:44:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.678[m] 98.476[deg]	[grasp_sample.py: 539]
+05/11 10:44:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:44:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:44:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:44:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:45:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 10:45:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 10:45:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 10:45:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:45:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 10:45:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:46:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 10:46:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 10:46:39 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 10:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 10:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 10:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 10:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 10:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 10:46:54 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 10:46:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/11 10:46:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 10:46:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 10:46:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/11 10:46:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 10:46:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 10:46:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/11 10:46:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 10:46:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 10:47:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 10:47:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_005	[save_utils.py: 785]
+05/11 10:47:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.28s (batch: 5.53s, save: 8.75s)	[pipeline.py: 300]
+05/11 10:47:10 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.28s:
+  episode_total: mean=187.06s, total=187.06s, count=1, min=187062.5ms, max=187062.5ms
+  sensor_polling: mean=362.1ms, total=108.62s, count=300, min=294.5ms, max=592.9ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8753.2ms, max=8753.2ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=15.4ms, max=29.3ms
+  save_batch_prep: mean=5.53s, total=5.53s, count=1, min=5530.9ms, max=5530.9ms
+  task_sampling: mean=3.28s, total=3.28s, count=1, min=3277.7ms, max=3277.7ms
+  scene_load: mean=2.59s, total=2.59s, count=1, min=2589.8ms, max=2589.8ms
+  scene_env_create: mean=1.62s, total=1.62s, count=1, min=1617.1ms, max=1617.1ms
+  scene_compile: mean=772.8ms, total=772.8ms, count=1, min=772.8ms, max=772.8ms
+  task_specific_sample: mean=684.8ms, total=684.8ms, count=1, min=684.8ms, max=684.8ms
+  compile_mujoco: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  compile_xml_load: mean=174.6ms, total=174.6ms, count=1, min=174.6ms, max=174.6ms
+  scene_init: mean=159.1ms, total=159.1ms, count=1, min=159.1ms, max=159.1ms
+  compile_aux_objects: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms
+  compile_aux_policy_objects: mean=72.6ms, total=72.6ms, count=1, min=72.6ms, max=72.6ms
+  scene_asset_install: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms
+  asset_install_grasps: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms
+  compile_robot_add: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=537.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=49.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 10:47:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 10:47:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:47:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:47:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:47:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:47:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022503m	[env.py: 870]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:47:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86266487  0.19458624  0.02250284] yaw=169.9deg	[env.py: 1019]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81682613  0.19554487  0.02250284] yaw=162.0deg	[env.py: 1019]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7047284   0.75336043  0.02250284] yaw=-170.9deg	[env.py: 1019]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:47:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.6ms, total=173.7ms	[env.py: 1075]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.195, 0.023)	[env.py: 1079]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg	[env.py: 1082]
+05/11 10:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:47:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:47:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:47:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 10:47:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:47:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:47:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 10:47:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_005	[save_utils.py: 785]
+05/11 10:47:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.70s (batch: 3.57s, save: 9.13s)	[pipeline.py: 300]
+05/11 10:47:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 10:47:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_005	[save_utils.py: 785]
+05/11 10:47:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.60s (batch: 3.65s, save: 8.95s)	[pipeline.py: 300]
+05/11 10:47:12 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.56s:
+  episode_total: mean=193.20s, total=193.20s, count=1, min=193199.8ms, max=193199.8ms
+  sensor_polling: mean=393.0ms, total=117.90s, count=300, min=307.4ms, max=666.6ms
+  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9132.7ms, max=9132.7ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.4ms, max=29.1ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3571.4ms, max=3571.4ms
+  task_sampling: mean=3.56s, total=3.56s, count=1, min=3558.6ms, max=3558.6ms
+  scene_load: mean=2.82s, total=2.82s, count=1, min=2824.7ms, max=2824.7ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1666.5ms, max=1666.5ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1006.7ms, max=1006.7ms
+  task_specific_sample: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_mujoco: mean=556.4ms, total=556.4ms, count=1, min=556.4ms, max=556.4ms
+  compile_xml_load: mean=381.9ms, total=381.9ms, count=1, min=381.9ms, max=381.9ms
+  scene_init: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms
+  scene_asset_install: mean=74.6ms, total=74.6ms, count=1, min=74.6ms, max=74.6ms
+  asset_install_grasps: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  compile_aux_policy_objects: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  compile_robot_add: mean=17.5ms, total=17.5ms, count=1, min=17.5ms, max=17.5ms
+  asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  scene_randomize: mean=994.4us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=334.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=63.5us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/11 10:47:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.918s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:47:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.452[m] 79.558[deg]	[grasp_sample.py: 539]
+05/11 10:47:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:47:13 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.48s:
+  episode_total: mean=193.37s, total=193.37s, count=1, min=193375.0ms, max=193375.0ms
+  sensor_polling: mean=397.0ms, total=119.10s, count=300, min=301.7ms, max=652.5ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8952.4ms, max=8952.4ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=14.0ms, max=27.4ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3649.2ms, max=3649.2ms
+  task_sampling: mean=3.48s, total=3.48s, count=1, min=3479.9ms, max=3479.9ms
+  scene_load: mean=2.69s, total=2.69s, count=1, min=2687.6ms, max=2687.6ms
+  scene_env_create: mean=1.64s, total=1.64s, count=1, min=1644.3ms, max=1644.3ms
+  scene_compile: mean=915.2ms, total=915.2ms, count=1, min=915.2ms, max=915.2ms
+  task_specific_sample: mean=790.0ms, total=790.0ms, count=1, min=790.0ms, max=790.0ms
+  compile_mujoco: mean=557.0ms, total=557.0ms, count=1, min=557.0ms, max=557.0ms
+  compile_xml_load: mean=290.1ms, total=290.1ms, count=1, min=290.1ms, max=290.1ms
+  scene_init: mean=77.4ms, total=77.4ms, count=1, min=77.4ms, max=77.4ms
+  scene_asset_install: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  compile_aux_objects: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  compile_aux_policy_objects: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms
+  compile_robot_add: mean=17.4ms, total=17.4ms, count=1, min=17.4ms, max=17.4ms
+  asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  scene_randomize: mean=873.7us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=347.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=43.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 10:47:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:47:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:47:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:47:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 10:47:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:47:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:47:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:47:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:47:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055535m	[env.py: 870]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:47:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0228442   0.98204711  0.05553462] yaw=-146.0deg	[env.py: 1019]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91121383  1.17814953  0.05553462] yaw=-136.3deg	[env.py: 1019]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9739989   0.21123304  0.05553462] yaw=166.1deg	[env.py: 1019]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:47:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.3ms, total=129.3ms	[env.py: 1075]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.982, 0.056)	[env.py: 1079]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg	[env.py: 1082]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:14 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/11 10:47:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 10:47:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 10:47:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:47:14 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:47:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 10:47:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:47:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:47:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:47:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:47:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038363m	[env.py: 870]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:47:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76660676  0.67716973  0.03836279] yaw=-177.9deg	[env.py: 1019]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:47:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 10:47:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76947638  0.22118885  0.03836279] yaw=174.8deg	[env.py: 1019]
+05/11 10:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72155734  0.42518837  0.03836279] yaw=165.7deg	[env.py: 1019]
+05/11 10:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.126s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.0ms, total=226.1ms	[env.py: 1075]
+05/11 10:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.677, 0.038)	[env.py: 1079]
+05/11 10:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.9 deg	[env.py: 1082]
+05/11 10:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/11 10:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:47:15 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:47:15 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]
+05/11 10:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:47:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.845s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:47:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 100.054[deg]	[grasp_sample.py: 539]
+05/11 10:47:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:47:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.526[m] 95.899[deg]	[grasp_sample.py: 539]
+05/11 10:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:47:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:47:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:47:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 10:47:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_005	[save_utils.py: 785]
+05/11 10:47:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.54s (batch: 3.93s, save: 10.61s)	[pipeline.py: 300]
+05/11 10:47:30 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.71s:
+  episode_total: mean=206.90s, total=206.90s, count=1, min=206896.2ms, max=206896.2ms
+  sensor_polling: mean=410.0ms, total=123.01s, count=300, min=315.7ms, max=646.9ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10607.5ms, max=10607.5ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.7ms, max=47.2ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3929.7ms, max=3929.7ms
+  task_sampling: mean=2.71s, total=2.71s, count=1, min=2710.6ms, max=2710.6ms
+  scene_load: mean=2.30s, total=2.30s, count=1, min=2300.3ms, max=2300.3ms
+  scene_env_create: mean=1.42s, total=1.42s, count=1, min=1416.0ms, max=1416.0ms
+  scene_compile: mean=769.0ms, total=769.0ms, count=1, min=769.0ms, max=769.0ms
+  compile_mujoco: mean=548.0ms, total=548.0ms, count=1, min=548.0ms, max=548.0ms
+  task_specific_sample: mean=407.7ms, total=407.7ms, count=1, min=407.7ms, max=407.7ms
+  compile_xml_load: mean=142.0ms, total=142.0ms, count=1, min=142.0ms, max=142.0ms
+  scene_init: mean=75.9ms, total=75.9ms, count=1, min=75.9ms, max=75.9ms
+  compile_aux_objects: mean=61.1ms, total=61.1ms, count=1, min=61.1ms, max=61.1ms
+  compile_aux_policy_objects: mean=61.1ms, total=61.1ms, count=1, min=61.1ms, max=61.1ms
+  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
+  asset_install_grasps: mean=28.4ms, total=28.4ms, count=1, min=28.4ms, max=28.4ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=340.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=47.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 10:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 10:47:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 10:47:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 10:47:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 10:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 10:47:31 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: 256]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039799m	[env.py: 870]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 10:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71671137  0.46981251  0.03979947] yaw=184.7deg	[env.py: 1019]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7781687   0.71483777  0.03979947] yaw=-156.6deg	[env.py: 1019]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77136544  0.38979907  0.03979947] yaw=177.1deg	[env.py: 1019]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 10:47:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.3ms, total=304.3ms	[env.py: 1075]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.470, 0.040)	[env.py: 1079]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.7 deg	[env.py: 1082]
+05/11 10:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 10:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 10:47:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 10:47:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/11 10:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 10:47:32 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]
+05/11 10:47:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 10:47:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 10:47:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 10:47:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.535[m] 91.141[deg]	[grasp_sample.py: 539]
+05/11 10:47:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 10:47:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 10:47:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 10:47:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 10:47:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]