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+05/14 22:53:34 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:53:34 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:53:34 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:53:34 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
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+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                'up_axis': 'z',
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+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:53:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:53:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:53:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:53:34 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:53:34 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:53:34 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:53:34 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_203'),
+ '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 0x70f12970f8d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 60301,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:53:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:53:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:53:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:53:34 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:53:34 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:53:36 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:53:36 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:53:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:53:36 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:53:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:53:36 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_203'),
+ '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 0x7ca5d0e26850>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 60304,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:53:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:53:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:53:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:53:36 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:53:36 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:53:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049402m	[env.py: 870]
+05/14 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:36 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:53:37 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23895382 -0.69939156  0.04940211] yaw=-188.8deg	[env.py: 1019]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05993605 -1.30019242  0.04940211] yaw=160.6deg	[env.py: 1019]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:53:37 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:53:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:53:37 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_203'),
+ '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 0x788e9e611c50>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 60302,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:53:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:53:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:53:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:53:37 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:53:37 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:53:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058569m	[env.py: 870]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:37 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.2ms, retries=203.8ms, total=219.9ms	[env.py: 1075]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.239, -0.699, 0.049)	[env.py: 1079]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.8 deg	[env.py: 1082]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33438133 -0.33684574  0.05856895] yaw=-154.5deg	[env.py: 1019]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01018056 -0.80369908  0.05856895] yaw=-196.5deg	[env.py: 1019]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.23957422 -1.02472038  0.05856895] yaw=157.1deg	[env.py: 1019]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=23.4ms, retries=168.6ms, total=192.0ms	[env.py: 1075]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.334, -0.337, 0.059)	[env.py: 1079]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/14 22:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:37 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:37 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:53:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:53:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:53:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:53:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:53:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:39 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: 273]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010715m	[env.py: 870]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1973869  -0.36052355  0.01071505] yaw=-127.1deg	[env.py: 1019]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18527874 -0.60709634  0.01071505] yaw=-174.0deg	[env.py: 1019]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.38830202 -0.33703725  0.01071505] yaw=-125.8deg	[env.py: 1019]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=15.5ms, retries=142.7ms, total=158.2ms	[env.py: 1075]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.197, -0.361, 0.011)	[env.py: 1079]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg	[env.py: 1082]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:53:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:53:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:53:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:53:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088483m	[env.py: 870]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 137.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=15.0ms, retries=171.4ms, total=186.4ms	[env.py: 1105]
+05/14 22:53:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 22:53:39 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 22:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022786m	[env.py: 870]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16671962 -0.74606849 -0.02278647] yaw=-194.5deg	[env.py: 1019]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.1ms	[env.py: 1075]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.167, -0.746, -0.023)	[env.py: 1079]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -194.5 deg	[env.py: 1082]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:41 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 25.262s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:02 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]
+05/14 22:54:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 25.699s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.380[m] 91.412[deg]	[grasp_sample.py: 539]
+05/14 22:54:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 86.131[deg]	[grasp_sample.py: 539]
+05/14 22:54:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:54:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:54:05 INFO: [Worker 0] Warmed up parallel IK solver in 26.221s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:05 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]
+05/14 22:54:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 26.039s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:07 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]
+05/14 22:54:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.023s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.569[m] 59.521[deg]	[grasp_sample.py: 539]
+05/14 22:54:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.715[m] 110.068[deg]	[grasp_sample.py: 539]
+05/14 22:54:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:54:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:55:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:55:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:55:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:55:24 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]
+05/14 22:55:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]	[grasp_sample.py: 539]
+05/14 22:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:44 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:50 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:55:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:55:55 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]
+05/14 22:55:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.606s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:56 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.822[deg]	[grasp_sample.py: 539]
+05/14 22:55:58 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:55:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:55:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:55:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:55:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:55:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061967m	[env.py: 870]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24965046 -0.79236362  0.06196699] yaw=-158.5deg	[env.py: 1019]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.4ms	[env.py: 1075]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.250, -0.792, 0.062)	[env.py: 1079]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
+05/14 22:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:56:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.439[m] 107.817[deg]	[grasp_sample.py: 539]
+05/14 22:56:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:56:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:56:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:56:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:56:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:56:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.03s (batch: 2.95s, save: 9.07s)	[pipeline.py: 300]
+05/14 22:56:12 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.04s:
+  episode_total: mean=157.43s, total=157.43s, count=1, min=157428.8ms, max=157428.8ms
+  sensor_polling: mean=307.6ms, total=92.29s, count=300, min=293.5ms, max=457.1ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9071.9ms, max=9071.9ms
+  physics_step: mean=19.5ms, total=5.86s, count=300, min=14.4ms, max=31.7ms
+  task_sampling: mean=3.04s, total=3.04s, count=1, min=3038.9ms, max=3038.9ms
+  save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2953.3ms, max=2953.3ms
+  scene_load: mean=2.60s, total=2.60s, count=1, min=2595.3ms, max=2595.3ms
+  scene_env_create: mean=1.69s, total=1.69s, count=1, min=1692.8ms, max=1692.8ms
+  scene_compile: mean=729.9ms, total=729.9ms, count=1, min=729.9ms, max=729.9ms
+  compile_mujoco: mean=512.2ms, total=512.2ms, count=1, min=512.2ms, max=512.2ms
+  task_specific_sample: mean=439.5ms, total=439.5ms, count=1, min=439.5ms, max=439.5ms
+  compile_xml_load: mean=145.8ms, total=145.8ms, count=1, min=145.8ms, max=145.8ms
+  scene_init: mean=129.3ms, total=129.3ms, count=1, min=129.3ms, max=129.3ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_grasps: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=589.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=31.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.055540m	[env.py: 870]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05185835 -1.16629073 -0.05553971] yaw=174.8deg	[env.py: 1019]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18408664 -0.97075909 -0.05553971] yaw=196.7deg	[env.py: 1019]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.07853518 -1.0403183  -0.05553971] yaw=160.2deg	[env.py: 1019]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.5ms	[env.py: 1075]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.052, -1.166, -0.056)	[env.py: 1079]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
+05/14 22:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:13 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:13 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]
+05/14 22:56:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:17 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.702[m] 109.441[deg]	[grasp_sample.py: 539]
+05/14 22:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:56:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.69s (batch: 2.67s, save: 9.01s)	[pipeline.py: 300]
+05/14 22:56:18 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
+  episode_total: mean=80.27s, total=160.55s, count=2, min=2814.9ms, max=157730.9ms
+  sensor_polling: mean=315.3ms, total=94.60s, count=300, min=273.0ms, max=537.9ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9011.2ms, max=9011.2ms
+  physics_step: mean=19.1ms, total=5.73s, count=300, min=13.7ms, max=33.5ms
+  task_sampling_failed: mean=2.81s, total=2.81s, count=1, min=2814.8ms, max=2814.8ms
+  save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2674.8ms, max=2674.8ms
+  scene_load: mean=2.62s, total=2.62s, count=1, min=2619.5ms, max=2619.5ms
+  scene_env_create: mean=1.57s, total=1.57s, count=1, min=1569.3ms, max=1569.3ms
+  scene_compile: mean=823.9ms, total=823.9ms, count=1, min=823.9ms, max=823.9ms
+  task_specific_sample: mean=300.3ms, total=600.6ms, count=2, min=191.5ms, max=409.1ms
+  compile_mujoco: mean=499.5ms, total=499.5ms, count=1, min=499.5ms, max=499.5ms
+  task_sampling: mean=411.3ms, total=411.3ms, count=1, min=411.3ms, max=411.3ms
+  compile_xml_load: mean=264.9ms, total=264.9ms, count=1, min=264.9ms, max=264.9ms
+  scene_asset_install: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms
+  asset_install_grasps: mean=131.2ms, total=131.2ms, count=1, min=131.2ms, max=131.2ms
+  scene_init: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_objects: mean=15.3ms, total=15.3ms, count=1, min=15.3ms, max=15.3ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.3ms
+  mj_forward_sync: mean=407.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:56:18 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:56:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031353m	[env.py: 870]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05920233 -1.10765143 -0.03135278] yaw=168.3deg	[env.py: 1019]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.085m, effective arm-mount z=0.775m (base_body_z=-0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085263m	[env.py: 870]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06116078 -0.65530733 -0.03135278] yaw=-146.6deg	[env.py: 1019]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03825574 -0.88136304 -0.08526333] yaw=200.5deg	[env.py: 1019]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.4ms, total=170.4ms	[env.py: 1075]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.059, -1.108, -0.031)	[env.py: 1079]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.35390773 -0.39355301 -0.08526333] yaw=-151.3deg	[env.py: 1019]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.29056774 -1.10895585 -0.08526333] yaw=154.2deg	[env.py: 1019]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.1ms, total=159.1ms	[env.py: 1075]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -0.881, -0.085)	[env.py: 1079]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 200.5 deg	[env.py: 1082]
+05/14 22:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:20 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]
+05/14 22:56:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:20 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]
+05/14 22:56:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.638[m] 75.508[deg]	[grasp_sample.py: 539]
+05/14 22:56:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:56:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.719s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.733[m] 91.153[deg]	[grasp_sample.py: 539]
+05/14 22:56:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:22 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:56:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:56:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:56:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:56:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.34s (batch: 2.51s, save: 8.83s)	[pipeline.py: 300]
+05/14 22:56:34 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.75s:
+  episode_total: mean=177.37s, total=177.37s, count=1, min=177372.3ms, max=177372.3ms
+  sensor_polling: mean=368.7ms, total=110.60s, count=300, min=324.7ms, max=499.5ms
+  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8834.0ms, max=8834.0ms
+  physics_step: mean=20.7ms, total=6.20s, count=300, min=14.2ms, max=74.6ms
+  task_sampling: mean=2.75s, total=2.75s, count=1, min=2750.4ms, max=2750.4ms
+  save_batch_prep: mean=2.51s, total=2.51s, count=1, min=2507.5ms, max=2507.5ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2377.9ms, max=2377.9ms
+  scene_env_create: mean=1.31s, total=1.31s, count=1, min=1308.7ms, max=1308.7ms
+  scene_compile: mean=945.0ms, total=945.0ms, count=1, min=945.0ms, max=945.0ms
+  compile_mujoco: mean=627.7ms, total=627.7ms, count=1, min=627.7ms, max=627.7ms
+  task_specific_sample: mean=369.3ms, total=369.3ms, count=1, min=369.3ms, max=369.3ms
+  compile_xml_load: mean=197.5ms, total=197.5ms, count=1, min=197.5ms, max=197.5ms
+  compile_aux_objects: mean=98.8ms, total=98.8ms, count=1, min=98.8ms, max=98.8ms
+  compile_aux_policy_objects: mean=98.8ms, total=98.8ms, count=1, min=98.8ms, max=98.8ms
+  scene_init: mean=79.8ms, total=79.8ms, count=1, min=79.8ms, max=79.8ms
+  scene_asset_install: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms
+  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=405.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=44.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:35 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: 195]
+05/14 22:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.075m, effective arm-mount z=0.785m (base_body_z=-0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.075067m	[env.py: 870]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23978742 -0.9560346  -0.07506686] yaw=158.2deg	[env.py: 1019]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26366585 -0.05585625 -0.07506686] yaw=-112.9deg	[env.py: 1019]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11573338 -0.51907568 -0.07506686] yaw=-148.7deg	[env.py: 1019]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.7ms, total=116.7ms	[env.py: 1075]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.240, -0.956, -0.075)	[env.py: 1079]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.2 deg	[env.py: 1082]
+05/14 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.388[m] 56.034[deg]	[grasp_sample.py: 539]
+05/14 22:56:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:56:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:56:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:55 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:05 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:10 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:58:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:58:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:58:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:58:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:58:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:58:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:58:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:58:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.79s (batch: 2.99s, save: 9.80s)	[pipeline.py: 300]
+05/14 22:58:24 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.68s:
+  episode_total: mean=144.53s, total=289.06s, count=2, min=143913.4ms, max=145143.6ms
+  sensor_polling: mean=346.8ms, total=190.38s, count=549, min=279.2ms, max=756.4ms
+  physics_step: mean=21.3ms, total=11.71s, count=549, min=13.2ms, max=51.2ms
+  save_trajectories: mean=9.80s, total=9.80s, count=1, min=9800.3ms, max=9800.3ms
+  task_sampling: mean=1.84s, total=3.68s, count=2, min=452.0ms, max=3228.9ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2993.9ms, max=2993.9ms
+  scene_load: mean=2.62s, total=2.62s, count=1, min=2625.0ms, max=2625.0ms
+  scene_env_create: mean=1.59s, total=1.59s, count=1, min=1591.7ms, max=1591.7ms
+  task_specific_sample: mean=525.5ms, total=1.05s, count=2, min=449.6ms, max=601.3ms
+  scene_compile: mean=899.4ms, total=899.4ms, count=1, min=899.4ms, max=899.4ms
+  compile_mujoco: mean=531.2ms, total=531.2ms, count=1, min=531.2ms, max=531.2ms
+  compile_xml_load: mean=301.8ms, total=301.8ms, count=1, min=301.8ms, max=301.8ms
+  scene_init: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_asset_install: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms
+  compile_aux_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_aux_policy_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  asset_install_grasps: mean=33.1ms, total=33.1ms, count=1, min=33.1ms, max=33.1ms
+  compile_robot_add: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms
+  asset_install_objects: mean=13.1ms, total=13.1ms, count=1, min=13.1ms, max=13.1ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=1.0ms, max=1.2ms
+  mj_forward_sync: mean=369.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:58:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016651m	[env.py: 870]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04775905 -1.03203408  0.01665062] yaw=192.2deg	[env.py: 1019]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07529317 -0.81923978  0.01665062] yaw=159.3deg	[env.py: 1019]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06927781 -1.24767166  0.01665062] yaw=143.4deg	[env.py: 1019]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=172.6ms, total=172.7ms	[env.py: 1075]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.048, -1.032, 0.017)	[env.py: 1079]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.2 deg	[env.py: 1082]
+05/14 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:26 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:26 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]
+05/14 22:58:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:58:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:58:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:58:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:29 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.740[m] 76.422[deg]	[grasp_sample.py: 539]
+05/14 22:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:58:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:58:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:58:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:58:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:58:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.01s (batch: 2.56s, save: 8.46s)	[pipeline.py: 300]
+05/14 22:58:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.77s:
+  episode_total: mean=69.28s, total=138.55s, count=2, min=5446.1ms, max=133108.8ms
+  sensor_polling: mean=312.3ms, total=93.69s, count=300, min=295.9ms, max=528.6ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8457.6ms, max=8457.6ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=17.2ms, max=27.9ms
+  save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2557.3ms, max=2557.3ms
+  task_sampling: mean=385.0ms, total=770.0ms, count=2, min=374.4ms, max=395.6ms
+  task_specific_sample: mean=381.2ms, total=762.3ms, count=2, min=370.5ms, max=391.8ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.1ms, max=2.6ms
+  mj_forward_sync: mean=415.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.9us, 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]
+05/14 22:58:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048650m	[env.py: 870]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05255077 -1.17389967  0.04864951] yaw=156.6deg	[env.py: 1019]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.1197409  -1.26476913  0.04864951] yaw=181.4deg	[env.py: 1019]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 3.36027118e-04 -5.52600243e-01  4.86495147e-02] yaw=-191.1deg	[env.py: 1019]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.5ms, total=154.5ms	[env.py: 1075]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.053, -1.174, 0.049)	[env.py: 1079]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg	[env.py: 1082]
+05/14 22:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m	[env.py: 1086]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:34 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:34 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]
+05/14 22:58:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.754s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:58:36 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013383m	[env.py: 870]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03591825 -1.16214132 -0.01338268] yaw=139.5deg	[env.py: 1019]
+05/14 22:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.50662478 -0.02204714 -0.01338268] yaw=-125.4deg	[env.py: 1019]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.0ms	[env.py: 1075]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.036, -1.162, -0.013)	[env.py: 1079]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.5 deg	[env.py: 1082]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:58:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:58:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.77s (batch: 3.08s, save: 8.70s)	[pipeline.py: 300]
+05/14 22:58:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:38 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:38 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]
+05/14 22:58:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=139.67s, total=139.67s, count=1, min=139672.9ms, max=139672.9ms
+  sensor_polling: mean=333.6ms, total=100.09s, count=300, min=284.5ms, max=658.1ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8695.1ms, max=8695.1ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=15.1ms, max=29.7ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3075.4ms, max=3075.4ms
+  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
+  task_specific_sample: mean=420.8ms, total=420.8ms, count=1, min=420.8ms, max=420.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=489.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=36.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:58:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.604[m] 87.236[deg]	[grasp_sample.py: 539]
+05/14 22:58:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:58:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:58:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:41 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: 273]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030398m	[env.py: 870]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04970518 -0.81397878  0.03039771] yaw=-167.5deg	[env.py: 1019]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.28651256 -0.119421    0.03039771] yaw=-153.2deg	[env.py: 1019]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03352558 -0.75580645  0.03039771] yaw=-168.8deg	[env.py: 1019]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.3ms, total=321.4ms	[env.py: 1075]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.050, -0.814, 0.030)	[env.py: 1079]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:42 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:42 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]
+05/14 22:58:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:43 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.710[m] 73.205[deg]	[grasp_sample.py: 539]
+05/14 22:58:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:58:55 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 22:58:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:58:55 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/14 22:59:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:59:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 22:59:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.38s (batch: 2.73s, save: 8.65s)	[pipeline.py: 300]
+05/14 22:59:07 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.33s:
+  episode_total: mean=152.24s, total=152.24s, count=1, min=152242.4ms, max=152242.4ms
+  sensor_polling: mean=381.3ms, total=112.11s, count=294, min=346.6ms, max=581.1ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8645.7ms, max=8645.7ms
+  physics_step: mean=20.7ms, total=6.09s, count=294, min=14.7ms, max=35.0ms
+  save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2730.0ms, max=2730.0ms
+  task_sampling: mean=332.2ms, total=332.2ms, count=1, min=332.2ms, max=332.2ms
+  task_specific_sample: mean=328.2ms, total=328.2ms, count=1, min=328.2ms, max=328.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=369.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.0us, 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]
+05/14 22:59:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:09 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: 195]
+05/14 22:59:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064821m	[env.py: 870]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2537196   0.00579525 -0.06482144] yaw=-114.7deg	[env.py: 1019]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.1991351  -0.17731502 -0.06482144] yaw=-159.7deg	[env.py: 1019]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=480.6ms, total=480.7ms	[env.py: 1075]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.254, 0.006, -0.065)	[env.py: 1079]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.7 deg	[env.py: 1082]
+05/14 22:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.161m	[env.py: 1086]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:09 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]
+05/14 22:59:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.142s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:59:12 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:59:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:59:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025720m	[env.py: 870]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04401293 -1.09539109 -0.02572046] yaw=187.4deg	[env.py: 1019]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17342835 -0.83988942 -0.02572046] yaw=166.0deg	[env.py: 1019]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.53189278 -0.04654673 -0.02572046] yaw=-134.3deg	[env.py: 1019]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms	[env.py: 1075]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.044, -1.095, -0.026)	[env.py: 1079]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.4 deg	[env.py: 1082]
+05/14 22:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:13 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:13 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]
+05/14 22:59:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.758[m] 65.210[deg]	[grasp_sample.py: 539]
+05/14 22:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:16 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:00:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:00:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:00:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:00:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:00:39 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:00:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:00:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:00:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.91s (batch: 2.96s, save: 8.95s)	[pipeline.py: 300]
+05/14 23:00:45 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.35s:
+  episode_total: mean=139.22s, total=139.22s, count=1, min=139223.7ms, max=139223.7ms
+  sensor_polling: mean=331.2ms, total=99.36s, count=300, min=273.9ms, max=672.2ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8950.2ms, max=8950.2ms
+  physics_step: mean=20.2ms, total=6.07s, count=300, min=14.8ms, max=45.5ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2957.2ms, max=2957.2ms
+  task_sampling: mean=349.4ms, total=349.4ms, count=1, min=349.4ms, max=349.4ms
+  task_specific_sample: mean=345.9ms, total=345.9ms, count=1, min=345.9ms, max=345.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=354.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, 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]
+05/14 23:00:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:00:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:00:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:00:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:00:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:00:46 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: 273]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053475m	[env.py: 870]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:00:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08139529 -0.53274771  0.0534752 ] yaw=-177.4deg	[env.py: 1019]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35652613 -0.31579161  0.0534752 ] yaw=-133.8deg	[env.py: 1019]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14438769 -0.7825836   0.0534752 ] yaw=-179.5deg	[env.py: 1019]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:00:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.8ms	[env.py: 1075]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.081, -0.533, 0.053)	[env.py: 1079]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.4 deg	[env.py: 1082]
+05/14 23:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:00:46 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:00:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:00:47 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]
+05/14 23:00:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.653[m] 90.708[deg]	[grasp_sample.py: 539]
+05/14 23:00:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:00:50 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:00:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:00:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:00:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:00:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:00:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:01:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:01:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:01:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.03s (batch: 2.52s, save: 8.52s)	[pipeline.py: 300]
+05/14 23:01:01 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.77s:
+  episode_total: mean=72.96s, total=145.92s, count=2, min=2269.8ms, max=143654.1ms
+  sensor_polling: mean=316.9ms, total=95.08s, count=300, min=298.6ms, max=619.0ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8516.1ms, max=8516.1ms
+  physics_step: mean=20.5ms, total=6.16s, count=300, min=14.2ms, max=29.7ms
+  save_batch_prep: mean=2.52s, total=2.52s, count=1, min=2516.6ms, max=2516.6ms
+  task_sampling: mean=385.0ms, total=770.0ms, count=2, min=363.2ms, max=406.7ms
+  task_specific_sample: mean=380.4ms, total=760.8ms, count=2, min=359.4ms, max=401.4ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.5ms
+  mj_forward_sync: mean=401.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, 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]
+05/14 23:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046277m	[env.py: 870]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23441816 -0.76314663  0.04627658] yaw=-189.9deg	[env.py: 1019]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.26065533 -0.3880352   0.04627658] yaw=-161.6deg	[env.py: 1019]
+05/14 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=299.7ms, total=299.8ms	[env.py: 1075]
+05/14 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.234, -0.763, 0.046)	[env.py: 1079]
+05/14 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.9 deg	[env.py: 1082]
+05/14 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/14 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:03 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:03 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]
+05/14 23:01:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:01:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.525[m] 114.850[deg]	[grasp_sample.py: 539]
+05/14 23:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:01:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:01:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:01:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:01:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:01:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 13.55s (batch: 4.30s, save: 9.25s)	[pipeline.py: 300]
+05/14 23:01:11 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
+  episode_total: mean=149.98s, total=149.98s, count=1, min=149983.4ms, max=149983.4ms
+  sensor_polling: mean=359.9ms, total=107.97s, count=300, min=295.4ms, max=717.6ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9248.4ms, max=9248.4ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=14.3ms, max=32.5ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4303.0ms, max=4303.0ms
+  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
+  task_specific_sample: mean=581.4ms, total=581.4ms, count=1, min=581.4ms, max=581.4ms
+  scene_randomize: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms
+  mj_forward_sync: mean=498.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.1us, 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]
+05/14 23:01:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029570m	[env.py: 870]
+05/14 23:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02531413 -1.02138139 -0.02957015] yaw=141.7deg	[env.py: 1019]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.17216628 -0.86754654 -0.02957015] yaw=192.2deg	[env.py: 1019]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11409391 -0.96390525 -0.02957015] yaw=178.6deg	[env.py: 1019]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.0ms, total=221.0ms	[env.py: 1075]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.025, -1.021, -0.030)	[env.py: 1079]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.7 deg	[env.py: 1082]
+05/14 23:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/14 23:01:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:13 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:13 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]
+05/14 23:01:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:01:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.744[m] 85.528[deg]	[grasp_sample.py: 539]
+05/14 23:01:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:01:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:01:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:01:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:01:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:01:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:01:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:01:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:01:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:01:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:01:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.15s (batch: 2.54s, save: 8.61s)	[pipeline.py: 300]
+05/14 23:01:45 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.11s:
+  episode_total: mean=77.44s, total=154.87s, count=2, min=2979.8ms, max=151891.5ms
+  sensor_polling: mean=378.8ms, total=113.63s, count=300, min=338.9ms, max=671.4ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8611.5ms, max=8611.5ms
+  physics_step: mean=19.8ms, total=5.95s, count=300, min=14.4ms, max=32.2ms
+  save_batch_prep: mean=2.54s, total=2.54s, count=1, min=2541.3ms, max=2541.3ms
+  task_sampling: mean=554.7ms, total=1.11s, count=2, min=420.3ms, max=689.0ms
+  task_specific_sample: mean=550.2ms, total=1.10s, count=2, min=415.5ms, max=684.9ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.7ms, max=2.7ms
+  mj_forward_sync: mean=421.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:01:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031888m	[env.py: 870]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07612833 -0.6973126  -0.03188753] yaw=-164.5deg	[env.py: 1019]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=325.0ms, total=325.1ms	[env.py: 1075]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.076, -0.697, -0.032)	[env.py: 1079]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/14 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:47 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:47 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]
+05/14 23:01:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:01:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 66.348[deg]	[grasp_sample.py: 539]
+05/14 23:01:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:01:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:01:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:01:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:01:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:02:48 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:02:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:02:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:02:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:03:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:03:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:03:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.70s (batch: 2.82s, save: 8.88s)	[pipeline.py: 300]
+05/14 23:03:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
+  episode_total: mean=140.42s, total=140.42s, count=1, min=140419.1ms, max=140419.1ms
+  sensor_polling: mean=336.2ms, total=100.86s, count=300, min=269.3ms, max=594.6ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8881.5ms, max=8881.5ms
+  physics_step: mean=19.9ms, total=5.98s, count=300, min=17.2ms, max=31.6ms
+  save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2818.4ms, max=2818.4ms
+  task_sampling: mean=381.8ms, total=381.8ms, count=1, min=381.8ms, max=381.8ms
+  task_specific_sample: mean=377.5ms, total=377.5ms, count=1, min=377.5ms, max=377.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=397.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=47.8us, 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]
+05/14 23:03:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069001m	[env.py: 870]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=153.6ms, total=153.6ms	[env.py: 1105]
+05/14 23:03:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 23:03:08 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]
+05/14 23:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059476m	[env.py: 870]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.37055844 -0.26585915  0.05947579] yaw=-155.4deg	[env.py: 1019]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.4ms	[env.py: 1075]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.371, -0.266, 0.059)	[env.py: 1079]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
+05/14 23:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:09 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 71.550[deg]	[grasp_sample.py: 539]
+05/14 23:03:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:03:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:03:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.44s (batch: 2.64s, save: 8.80s)	[pipeline.py: 300]
+05/14 23:03:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
+  episode_total: mean=133.94s, total=133.94s, count=1, min=133935.2ms, max=133935.2ms
+  sensor_polling: mean=317.8ms, total=95.35s, count=300, min=296.4ms, max=657.8ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8799.3ms, max=8799.3ms
+  physics_step: mean=20.6ms, total=6.17s, count=300, min=15.2ms, max=29.6ms
+  save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2642.1ms, max=2642.1ms
+  task_sampling: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
+  task_specific_sample: mean=516.0ms, total=516.0ms, count=1, min=516.0ms, max=516.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=425.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047795m	[env.py: 870]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07030836 -1.1518591  -0.04779519] yaw=137.1deg	[env.py: 1019]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.46827888 -0.01770215 -0.04779519] yaw=-130.8deg	[env.py: 1019]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.4ms, total=181.4ms	[env.py: 1075]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.070, -1.152, -0.048)	[env.py: 1079]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.1 deg	[env.py: 1082]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.193m	[env.py: 1086]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:18 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:18 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]
+05/14 23:03:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.949s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:03:20 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060552m	[env.py: 870]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08491414 -0.74434193  0.0605516 ] yaw=-158.6deg	[env.py: 1019]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2678413  -0.62159147  0.0605516 ] yaw=-150.4deg	[env.py: 1019]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.7ms, total=184.7ms	[env.py: 1075]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.085, -0.744, 0.061)	[env.py: 1079]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg	[env.py: 1082]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.161m	[env.py: 1086]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:22 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:22 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]
+05/14 23:03:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.531s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:03:23 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:03:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078309m	[env.py: 870]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1848344  -0.25336276  0.07830926] yaw=-146.1deg	[env.py: 1019]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23081367 -0.68919016  0.07830926] yaw=-154.3deg	[env.py: 1019]
+05/14 23:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.42022097  0.0410276   0.07830926] yaw=-135.1deg	[env.py: 1019]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms	[env.py: 1075]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.185, -0.253, 0.078)	[env.py: 1079]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
+05/14 23:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/14 23:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:25 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]
+05/14 23:03:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.596[m] 66.016[deg]	[grasp_sample.py: 539]
+05/14 23:03:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:03:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:03:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:03:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:03:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:48 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:03:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:03:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 13.12s (batch: 4.27s, save: 8.84s)	[pipeline.py: 300]
+05/14 23:03:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:03:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=164.68s, total=164.68s, count=1, min=164684.4ms, max=164684.4ms
+  sensor_polling: mean=377.5ms, total=113.24s, count=300, min=312.7ms, max=617.0ms
+  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8843.2ms, max=8843.2ms
+  physics_step: mean=20.4ms, total=6.13s, count=300, min=18.2ms, max=30.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4273.9ms, max=4273.9ms
+  task_sampling: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms
+  task_specific_sample: mean=488.8ms, total=488.8ms, count=1, min=488.8ms, max=488.8ms
+  scene_randomize: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  mj_forward_sync: mean=468.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044620m	[env.py: 870]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.41041195 -0.24726848 -0.0446198 ] yaw=-134.0deg	[env.py: 1019]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30915179 -1.10784206 -0.0446198 ] yaw=141.9deg	[env.py: 1019]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08652179 -0.83374136 -0.0446198 ] yaw=158.1deg	[env.py: 1019]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.0ms	[env.py: 1075]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.410, -0.247, -0.045)	[env.py: 1079]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
+05/14 23:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:04:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 72.580[deg]	[grasp_sample.py: 539]
+05/14 23:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:04:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:04:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:04:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:04:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:04:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:04:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.29s (batch: 2.63s, save: 8.66s)	[pipeline.py: 300]
+05/14 23:04:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.57s:
+  episode_total: mean=149.45s, total=149.45s, count=1, min=149448.8ms, max=149448.8ms
+  sensor_polling: mean=373.9ms, total=112.18s, count=300, min=323.6ms, max=670.1ms
+  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8659.7ms, max=8659.7ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.5ms, max=30.6ms
+  save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2629.8ms, max=2629.8ms
+  task_sampling: mean=565.0ms, total=565.0ms, count=1, min=565.0ms, max=565.0ms
+  task_specific_sample: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=421.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:04:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:04:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:17 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: 273]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092228m	[env.py: 870]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.3019074  -0.26104717  0.09222816] yaw=-142.3deg	[env.py: 1019]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2048612  -0.12789214  0.09222816] yaw=-146.7deg	[env.py: 1019]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.1ms, total=198.2ms	[env.py: 1075]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.302, -0.261, 0.092)	[env.py: 1079]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.3 deg	[env.py: 1082]
+05/14 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:04:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:04:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.613[m] 125.518[deg]	[grasp_sample.py: 539]
+05/14 23:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:04:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:04:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:04:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:05:11 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:05:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:05:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:05:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:05:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:05:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:28 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:05:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:05:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:05:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:05:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:05:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.44s (batch: 3.04s, save: 9.41s)	[pipeline.py: 300]
+05/14 23:05:30 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.39s:
+  episode_total: mean=70.42s, total=140.83s, count=2, min=164.6ms, max=140668.5ms
+  sensor_polling: mean=340.2ms, total=102.07s, count=300, min=278.4ms, max=768.6ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9405.9ms, max=9405.9ms
+  physics_step: mean=20.1ms, total=6.03s, count=300, min=13.6ms, max=34.5ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3035.7ms, max=3035.7ms
+  task_specific_sample: mean=270.4ms, total=540.8ms, count=2, min=159.2ms, max=381.6ms
+  task_sampling: mean=385.8ms, total=385.8ms, count=1, min=385.8ms, max=385.8ms
+  task_sampling_failed: mean=164.6ms, total=164.6ms, count=1, min=164.6ms, max=164.6ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=401.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:05:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:05:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:05:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:05:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053549m	[env.py: 870]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24579485 -0.72242462 -0.05354904] yaw=-194.2deg	[env.py: 1019]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.51545175 -0.02721931 -0.05354904] yaw=-117.1deg	[env.py: 1019]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.17490275 -0.11284022 -0.05354904] yaw=-147.3deg	[env.py: 1019]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:05:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms	[env.py: 1075]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.246, -0.722, -0.054)	[env.py: 1079]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -194.2 deg	[env.py: 1082]
+05/14 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:05:31 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:05:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:05:31 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]
+05/14 23:05:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.503[m] 49.053[deg]	[grasp_sample.py: 539]
+05/14 23:05:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:05:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:05:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 13.99s (batch: 5.12s, save: 8.87s)	[pipeline.py: 300]
+05/14 23:05:42 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.19s:
+  episode_total: mean=47.52s, total=142.57s, count=3, min=2052.9ms, max=138025.0ms
+  sensor_polling: mean=318.8ms, total=95.64s, count=300, min=286.1ms, max=581.8ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8872.3ms, max=8872.3ms
+  physics_step: mean=20.5ms, total=6.16s, count=300, min=14.6ms, max=69.8ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5119.6ms, max=5119.6ms
+  task_sampling: mean=395.3ms, total=1.19s, count=3, min=383.3ms, max=407.8ms
+  task_specific_sample: mean=391.4ms, total=1.17s, count=3, min=377.9ms, max=405.3ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=418.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:05:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:05:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:05:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:05:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:05:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:05:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035957m	[env.py: 870]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:05:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03490181 -1.2534118  -0.03595733] yaw=166.7deg	[env.py: 1019]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.21361892 -0.06008574 -0.03595733] yaw=-144.4deg	[env.py: 1019]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10027351 -1.27089263 -0.03595733] yaw=166.4deg	[env.py: 1019]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:05:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=147.5ms, total=147.6ms	[env.py: 1075]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.035, -1.253, -0.036)	[env.py: 1079]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
+05/14 23:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:05:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:05:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:05:47 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:05:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:05:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:05:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:05:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:05:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028141m	[env.py: 870]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:05:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18753114 -0.23211222  0.02814138] yaw=-163.4deg	[env.py: 1019]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04432975 -1.06091354  0.02814138] yaw=192.0deg	[env.py: 1019]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11323683 -0.77577472  0.02814138] yaw=-153.4deg	[env.py: 1019]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:05:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms	[env.py: 1075]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.188, -0.232, 0.028)	[env.py: 1079]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg	[env.py: 1082]
+05/14 23:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:05:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:05:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:05:49 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]
+05/14 23:05:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.750[m] 93.936[deg]	[grasp_sample.py: 539]
+05/14 23:05:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:05:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:05:56 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]
+05/14 23:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.941s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.802[deg]	[grasp_sample.py: 539]
+05/14 23:05:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:06:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:06:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:17 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:06:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:06:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:06:19 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:06:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:06:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:06:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.84s (batch: 2.94s, save: 8.89s)	[pipeline.py: 300]
+05/14 23:06:29 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.34s:
+  episode_total: mean=150.48s, total=150.48s, count=1, min=150475.4ms, max=150475.4ms
+  sensor_polling: mean=343.7ms, total=103.12s, count=300, min=292.8ms, max=579.8ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8894.5ms, max=8894.5ms
+  physics_step: mean=19.8ms, total=5.94s, count=300, min=13.3ms, max=51.6ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2942.2ms, max=2942.2ms
+  task_sampling: mean=344.8ms, total=344.8ms, count=1, min=344.8ms, max=344.8ms
+  task_specific_sample: mean=340.7ms, total=340.7ms, count=1, min=340.7ms, max=340.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.3us, 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]
+05/14 23:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080863m	[env.py: 870]
+05/14 23:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35390323  0.01843667 -0.08086286] yaw=-103.5deg	[env.py: 1019]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.29429045 -0.42875561 -0.08086286] yaw=-141.1deg	[env.py: 1019]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12306982 -0.69584049 -0.08086286] yaw=-158.3deg	[env.py: 1019]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.4ms, total=212.4ms	[env.py: 1075]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.354, 0.018, -0.081)	[env.py: 1079]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.5 deg	[env.py: 1082]
+05/14 23:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.102m	[env.py: 1086]
+05/14 23:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:31 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:06:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.848s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:06:33 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:06:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:06:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:06:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:34 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: 195]
+05/14 23:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023294m	[env.py: 870]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10031774 -0.68974009 -0.02329381] yaw=-159.4deg	[env.py: 1019]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.11755935 -0.18561083 -0.02329381] yaw=-173.8deg	[env.py: 1019]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.43009499 -0.16922336 -0.02329381] yaw=-160.1deg	[env.py: 1019]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.6ms, total=288.6ms	[env.py: 1075]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.100, -0.690, -0.023)	[env.py: 1079]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/14 23:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/14 23:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:35 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]
+05/14 23:06:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.091s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:06:37 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:06:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091996m	[env.py: 870]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35695524 -0.35390166 -0.09199621] yaw=-121.5deg	[env.py: 1019]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08959433 -0.3732208  -0.09199621] yaw=-157.4deg	[env.py: 1019]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0745343  -0.63326803 -0.09199621] yaw=-190.4deg	[env.py: 1019]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=267.6ms, total=267.6ms	[env.py: 1075]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.357, -0.354, -0.092)	[env.py: 1079]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.5 deg	[env.py: 1082]
+05/14 23:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:39 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:39 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]
+05/14 23:06:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.855s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 98.663[deg]	[grasp_sample.py: 539]
+05/14 23:06:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:06:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:06:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.23s (batch: 2.76s, save: 8.47s)	[pipeline.py: 300]
+05/14 23:06:46 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
+  episode_total: mean=149.45s, total=149.45s, count=1, min=149446.7ms, max=149446.7ms
+  sensor_polling: mean=373.8ms, total=112.13s, count=300, min=318.4ms, max=648.2ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.4ms, max=8469.4ms
+  physics_step: mean=20.0ms, total=5.99s, count=300, min=14.3ms, max=28.5ms
+  save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2764.1ms, max=2764.1ms
+  task_sampling: mean=417.5ms, total=417.5ms, count=1, min=417.5ms, max=417.5ms
+  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
+  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=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]
+05/14 23:06:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030544m	[env.py: 870]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.52093209 -0.20584576 -0.03054407] yaw=-131.0deg	[env.py: 1019]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.7ms	[env.py: 1075]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.521, -0.206, -0.031)	[env.py: 1079]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.0 deg	[env.py: 1082]
+05/14 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:48 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:06:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 82.297[deg]	[grasp_sample.py: 539]
+05/14 23:06:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:06:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:21 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:07:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:39 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:07:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:07:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:07:39 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:07:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:07:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:07:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.07s (batch: 2.96s, save: 9.11s)	[pipeline.py: 300]
+05/14 23:07:52 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=140.69s, total=140.69s, count=1, min=140688.7ms, max=140688.7ms
+  sensor_polling: mean=331.0ms, total=99.31s, count=300, min=267.0ms, max=735.0ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9108.2ms, max=9108.2ms
+  physics_step: mean=20.3ms, total=6.10s, count=300, min=14.1ms, max=32.7ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2957.8ms, max=2957.8ms
+  task_sampling: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
+  task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=407.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.4us, 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]
+05/14 23:07:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:07:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:07:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:07:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:07:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:07:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063084m	[env.py: 870]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:07:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.01623599 -0.33660586  0.06308427] yaw=-161.8deg	[env.py: 1019]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07727689 -1.01366463  0.06308427] yaw=185.0deg	[env.py: 1019]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.39762768 -0.17439533  0.06308427] yaw=-121.5deg	[env.py: 1019]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:07:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.1ms, total=102.1ms	[env.py: 1075]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.016, -0.337, 0.063)	[env.py: 1079]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
+05/14 23:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.162m	[env.py: 1086]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:07:53 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:07:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:07:53 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]
+05/14 23:07:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.626s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:07:55 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:07:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:07:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:07:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:07:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:07:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:07:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096660m	[env.py: 870]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03191074 -1.29859023 -0.09665954] yaw=129.0deg	[env.py: 1019]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22974856 -0.33148521 -0.09665954] yaw=-140.9deg	[env.py: 1019]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.18373443 -0.62272689 -0.09665954] yaw=-175.0deg	[env.py: 1019]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:07:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=482.8ms, total=482.9ms	[env.py: 1075]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -1.299, -0.097)	[env.py: 1079]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.0 deg	[env.py: 1082]
+05/14 23:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.149m	[env.py: 1086]
+05/14 23:07:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:07:57 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:07:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:07:57 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]
+05/14 23:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.312s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:07:59 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:08:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:08:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:08:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:08:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:08:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:08:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.054161m	[env.py: 870]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:08:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12341821 -0.89070767 -0.05416105] yaw=186.7deg	[env.py: 1019]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0195202  -0.85279465 -0.05416105] yaw=192.0deg	[env.py: 1019]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12037979 -1.16756801 -0.05416105] yaw=132.3deg	[env.py: 1019]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:08:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -0.891, -0.054)	[env.py: 1079]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg	[env.py: 1082]
+05/14 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/14 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:08:01 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:08:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:08:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:08:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:08:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:08:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.539[m] 55.243[deg]	[grasp_sample.py: 539]
+05/14 23:08:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:08:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:08:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:08:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:08:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.77s (batch: 3.67s, save: 9.11s)	[pipeline.py: 300]
+05/14 23:08:09 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.73s:
+  episode_total: mean=70.95s, total=141.90s, count=2, min=2230.7ms, max=139668.6ms
+  sensor_polling: mean=333.7ms, total=100.12s, count=300, min=295.6ms, max=627.2ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9107.8ms, max=9107.8ms
+  physics_step: mean=19.5ms, total=5.85s, count=300, min=17.2ms, max=32.5ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3665.2ms, max=3665.2ms
+  task_sampling: mean=364.2ms, total=728.4ms, count=2, min=344.1ms, max=384.3ms
+  task_specific_sample: mean=357.9ms, total=715.8ms, count=2, min=339.2ms, max=376.6ms
+  scene_randomize: mean=3.4ms, total=6.8ms, count=2, min=1.5ms, max=5.3ms
+  mj_forward_sync: mean=567.2us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=29.2us, 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]
+05/14 23:08:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:08:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:08:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:08:11 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: 195]
+05/14 23:08:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:08:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063396m	[env.py: 870]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:08:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0473882  -0.85646613  0.06339585] yaw=196.7deg	[env.py: 1019]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24580465 -0.78142371  0.06339585] yaw=-196.4deg	[env.py: 1019]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09351872 -0.95081669  0.06339585] yaw=153.6deg	[env.py: 1019]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:08:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.4ms, total=332.4ms	[env.py: 1075]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.047, -0.856, 0.063)	[env.py: 1079]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.7 deg	[env.py: 1082]
+05/14 23:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:08:11 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:08:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:08:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:08:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:08:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:08:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 114.953[deg]	[grasp_sample.py: 539]
+05/14 23:08:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:08:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:08:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:31 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:08:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:08:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:08:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:08:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:08:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.087[deg]	[grasp_sample.py: 539]
+05/14 23:08:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:08:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:08:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:08:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:08:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:08:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:08:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:08:55 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:08:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:08:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:08:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.48s (batch: 2.82s, save: 8.65s)	[pipeline.py: 300]
+05/14 23:08:58 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.40s:
+  episode_total: mean=48.19s, total=144.56s, count=3, min=2420.7ms, max=139434.4ms
+  sensor_polling: mean=341.2ms, total=102.36s, count=300, min=289.2ms, max=518.4ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8653.7ms, max=8653.7ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=14.1ms, max=29.1ms
+  save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2821.3ms, max=2821.3ms
+  task_sampling: mean=467.6ms, total=1.40s, count=3, min=431.9ms, max=499.0ms
+  task_specific_sample: mean=463.9ms, total=1.39s, count=3, min=428.0ms, max=494.9ms
+  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=411.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:08:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:08:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:08:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:08:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:08:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:08:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000463m	[env.py: 870]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:08:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=263.1ms, total=263.2ms	[env.py: 1105]
+05/14 23:09:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 23:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 23:09:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:09:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027482m	[env.py: 870]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.36943696 -0.43736809  0.02748203] yaw=-133.6deg	[env.py: 1019]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0062401  -1.28268953  0.02748203] yaw=135.6deg	[env.py: 1019]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.17600836 -0.96742449  0.02748203] yaw=153.9deg	[env.py: 1019]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.6ms	[env.py: 1075]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.369, -0.437, 0.027)	[env.py: 1079]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.6 deg	[env.py: 1082]
+05/14 23:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:02 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]
+05/14 23:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.672s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 80.596[deg]	[grasp_sample.py: 539]
+05/14 23:09:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:09:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:09:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:09:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:09:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 10.86s (batch: 2.48s, save: 8.38s)	[pipeline.py: 300]
+05/14 23:09:21 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.38s:
+  episode_total: mean=153.73s, total=153.73s, count=1, min=153728.0ms, max=153728.0ms
+  sensor_polling: mean=363.2ms, total=108.96s, count=300, min=330.8ms, max=563.6ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.0ms, max=8379.0ms
+  physics_step: mean=19.6ms, total=5.88s, count=300, min=13.0ms, max=27.5ms
+  save_batch_prep: mean=2.48s, total=2.48s, count=1, min=2480.2ms, max=2480.2ms
+  task_sampling: mean=384.7ms, total=384.7ms, count=1, min=384.7ms, max=384.7ms
+  task_specific_sample: mean=381.2ms, total=381.2ms, count=1, min=381.2ms, max=381.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=391.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, 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]
+05/14 23:09:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:09:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013154m	[env.py: 870]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21866545 -0.58693115 -0.01315383] yaw=-152.5deg	[env.py: 1019]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.47272707 -0.12954608 -0.01315383] yaw=-106.0deg	[env.py: 1019]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.06904678 -1.36419804 -0.01315383] yaw=123.2deg	[env.py: 1019]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms	[env.py: 1075]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.219, -0.587, -0.013)	[env.py: 1079]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.5 deg	[env.py: 1082]
+05/14 23:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:23 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.434[m] 110.933[deg]	[grasp_sample.py: 539]
+05/14 23:09:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:09:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:09:34 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]
+05/14 23:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:34 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.435[deg]	[grasp_sample.py: 539]
+05/14 23:09:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:09:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:09:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:10:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:10:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:10:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:10:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:10:17 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.58s:
+  episode_total: mean=126.56s, total=126.56s, count=1, min=126556.3ms, max=126556.3ms
+  sensor_polling: mean=343.1ms, total=102.94s, count=300, min=295.0ms, max=641.8ms
+  physics_step: mean=20.1ms, total=6.02s, count=300, min=17.2ms, max=51.4ms
+  task_sampling: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_specific_sample: mean=579.5ms, total=579.5ms, count=1, min=579.5ms, max=579.5ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=367.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=48.0us, 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]
+05/14 23:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:10:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099872m	[env.py: 870]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31182559 -0.43575834 -0.09987157] yaw=-175.0deg	[env.py: 1019]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0464441  -0.94027202 -0.09987157] yaw=192.5deg	[env.py: 1019]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22531072 -1.2101437  -0.09987157] yaw=169.4deg	[env.py: 1019]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.312, -0.436, -0.100)	[env.py: 1079]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg	[env.py: 1082]
+05/14 23:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:10:19 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:10:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:10:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:10:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.585[m] 77.444[deg]	[grasp_sample.py: 539]
+05/14 23:10:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:10:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:10:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:10:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:10:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:10:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.69s (batch: 2.67s, save: 9.02s)	[pipeline.py: 300]
+05/14 23:10:27 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.30s:
+  episode_total: mean=50.46s, total=151.37s, count=3, min=2080.5ms, max=146211.2ms
+  sensor_polling: mean=352.7ms, total=105.80s, count=300, min=276.5ms, max=681.4ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9022.9ms, max=9022.9ms
+  physics_step: mean=20.5ms, total=6.16s, count=300, min=14.4ms, max=62.9ms
+  save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2668.4ms, max=2668.4ms
+  task_sampling: mean=433.7ms, total=1.30s, count=3, min=310.8ms, max=654.5ms
+  task_specific_sample: mean=430.4ms, total=1.29s, count=3, min=307.4ms, max=650.9ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=382.8us, total=1.1ms, count=3, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:10:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:10:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:10:28 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: 195]
+05/14 23:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:10:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089073m	[env.py: 870]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08338219 -0.32597856  0.0890733 ] yaw=-157.1deg	[env.py: 1019]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.37751474 -0.06295133  0.0890733 ] yaw=-150.3deg	[env.py: 1019]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.0ms, total=282.1ms	[env.py: 1075]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.083, -0.326, 0.089)	[env.py: 1079]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/14 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.105m	[env.py: 1086]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:10:28 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:10:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:10:28 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]
+05/14 23:10:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:10:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:10:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:10:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.818[m] 125.109[deg]	[grasp_sample.py: 539]
+05/14 23:10:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:10:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:10:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:10:46 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:11:01 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:11:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:11:01 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/14 23:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:11:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:11:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.03s (batch: 3.11s, save: 7.91s)	[pipeline.py: 300]
+05/14 23:11:13 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=65.91s, total=131.83s, count=2, min=275.3ms, max=131554.0ms
+  sensor_polling: mean=333.4ms, total=95.68s, count=287, min=289.8ms, max=562.4ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7914.5ms, max=7914.5ms
+  physics_step: mean=20.2ms, total=5.79s, count=287, min=17.3ms, max=29.6ms
+  save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3114.8ms, max=3114.8ms
+  task_specific_sample: mean=379.0ms, total=758.1ms, count=2, min=269.0ms, max=489.1ms
+  task_sampling: mean=493.3ms, total=493.3ms, count=1, min=493.3ms, max=493.3ms
+  task_sampling_failed: mean=275.3ms, total=275.3ms, count=1, min=275.3ms, max=275.3ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.1ms, max=2.8ms
+  mj_forward_sync: mean=399.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:11:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:11:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082068m	[env.py: 870]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27939169 -0.59175106  0.08206805] yaw=-182.4deg	[env.py: 1019]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25423502 -0.34048777  0.08206805] yaw=-134.9deg	[env.py: 1019]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01959353 -0.27753272  0.08206805] yaw=-143.8deg	[env.py: 1019]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.4ms	[env.py: 1075]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.279, -0.592, 0.082)	[env.py: 1079]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.4 deg	[env.py: 1082]
+05/14 23:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:15 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:11:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:11:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.678[m] 124.740[deg]	[grasp_sample.py: 539]
+05/14 23:11:17 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:11:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:11:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.086m, effective arm-mount z=0.774m (base_body_z=-0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086236m	[env.py: 870]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10657042 -0.96597318 -0.08623648] yaw=199.4deg	[env.py: 1019]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01044857 -1.32694848 -0.08623648] yaw=128.2deg	[env.py: 1019]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14417994 -0.26656725 -0.08623648] yaw=-173.7deg	[env.py: 1019]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.1ms, total=126.1ms	[env.py: 1075]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.107, -0.966, -0.086)	[env.py: 1079]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.4 deg	[env.py: 1082]
+05/14 23:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:19 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:19 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]
+05/14 23:11:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.556[m] 86.412[deg]	[grasp_sample.py: 539]
+05/14 23:11:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:11:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:11:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:11:22 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:11:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:11:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:11:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:11:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:11:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:11:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:11:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.18s (batch: 2.64s, save: 8.54s)	[pipeline.py: 300]
+05/14 23:11:48 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.39s:
+  episode_total: mean=145.94s, total=145.94s, count=1, min=145937.2ms, max=145937.2ms
+  sensor_polling: mean=367.8ms, total=110.35s, count=300, min=312.1ms, max=576.1ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8538.5ms, max=8538.5ms
+  physics_step: mean=20.3ms, total=6.09s, count=300, min=13.3ms, max=30.6ms
+  save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2641.5ms, max=2641.5ms
+  task_sampling: mean=387.6ms, total=387.6ms, count=1, min=387.6ms, max=387.6ms
+  task_specific_sample: mean=383.9ms, total=383.9ms, count=1, min=383.9ms, max=383.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=393.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, 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]
+05/14 23:11:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:11:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.075687m	[env.py: 870]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18144422 -0.83935063 -0.07568657] yaw=170.9deg	[env.py: 1019]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26945339 -0.09969315 -0.07568657] yaw=-115.1deg	[env.py: 1019]
+05/14 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.1ms, total=286.2ms	[env.py: 1075]
+05/14 23:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.181, -0.839, -0.076)	[env.py: 1079]
+05/14 23:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg	[env.py: 1082]
+05/14 23:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/14 23:11:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:50 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:50 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]
+05/14 23:11:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.651[m] 105.474[deg]	[grasp_sample.py: 539]
+05/14 23:11:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:11:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:11:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:12:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:12:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:16 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:12:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.50s:
+  episode_total: mean=108.44s, total=108.44s, count=1, min=108439.0ms, max=108439.0ms
+  sensor_polling: mean=327.4ms, total=98.22s, count=300, min=264.0ms, max=706.6ms
+  physics_step: mean=18.9ms, total=5.68s, count=300, min=13.3ms, max=26.7ms
+  task_sampling: mean=496.3ms, total=496.3ms, count=1, min=496.3ms, max=496.3ms
+  task_specific_sample: mean=492.7ms, total=492.7ms, count=1, min=492.7ms, max=492.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=342.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.2us, 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]
+05/14 23:12:17 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:12:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047434m	[env.py: 870]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0917484  -0.72703337  0.04743382] yaw=-176.4deg	[env.py: 1019]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 128.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02185044 -0.26908585  0.04743382] yaw=-134.1deg	[env.py: 1019]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.24717905 -1.25796901  0.04743382] yaw=170.9deg	[env.py: 1019]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=454.6ms, total=454.6ms	[env.py: 1075]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.092, -0.727, 0.047)	[env.py: 1079]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.4 deg	[env.py: 1082]
+05/14 23:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.169m	[env.py: 1086]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:18 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]
+05/14 23:12:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.818s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:12:20 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:12:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033282m	[env.py: 870]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25072096 -1.01530022 -0.03328235] yaw=169.6deg	[env.py: 1019]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20823891 -1.11921806 -0.03328235] yaw=140.4deg	[env.py: 1019]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=368.1ms, total=368.1ms	[env.py: 1075]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.251, -1.015, -0.033)	[env.py: 1079]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
+05/14 23:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/14 23:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:22 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:22 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]
+05/14 23:12:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.716s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 90.656[deg]	[grasp_sample.py: 539]
+05/14 23:12:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:12:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:12:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:12:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:12:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:12:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:12:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:12:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:12:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.54s (batch: 3.04s, save: 8.51s)	[pipeline.py: 300]
+05/14 23:12:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.36s:
+  episode_total: mean=147.91s, total=147.91s, count=1, min=147912.2ms, max=147912.2ms
+  sensor_polling: mean=360.7ms, total=108.21s, count=300, min=300.7ms, max=716.4ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8506.3ms, max=8506.3ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=13.9ms, max=32.5ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3035.1ms, max=3035.1ms
+  task_sampling: mean=360.4ms, total=360.4ms, count=1, min=360.4ms, max=360.4ms
+  task_specific_sample: mean=354.8ms, total=354.8ms, count=1, min=354.8ms, max=354.8ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081153m	[env.py: 870]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 135.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.0ms, total=213.1ms	[env.py: 1105]
+05/14 23:12:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 23:12:49 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 23:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082739m	[env.py: 870]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15329365 -0.31748155  0.08273864] yaw=-148.8deg	[env.py: 1019]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.37779086 -0.08564842  0.08273864] yaw=-132.1deg	[env.py: 1019]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27787736 -0.53642014  0.08273864] yaw=-141.4deg	[env.py: 1019]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.8ms	[env.py: 1075]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.153, -0.317, 0.083)	[env.py: 1079]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.8 deg	[env.py: 1082]
+05/14 23:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:51 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:12:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.924s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:54 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.741[m] 66.934[deg]	[grasp_sample.py: 539]
+05/14 23:12:55 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:12:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094587m	[env.py: 870]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.54381474 -0.11084073  0.09458655] yaw=-104.9deg	[env.py: 1019]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17567847 -0.92459999  0.09458655] yaw=161.1deg	[env.py: 1019]
+05/14 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=375.9ms, total=376.0ms	[env.py: 1075]
+05/14 23:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.544, -0.111, 0.095)	[env.py: 1079]
+05/14 23:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.9 deg	[env.py: 1082]
+05/14 23:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/14 23:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:57 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:57 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]
+05/14 23:12:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:57 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.626[m] 91.129[deg]	[grasp_sample.py: 539]
+05/14 23:12:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:12:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:12:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:11 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:13:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:13:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:13:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:13:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:13:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:13:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.03s (batch: 2.92s, save: 8.11s)	[pipeline.py: 300]
+05/14 23:13:37 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.69s:
+  episode_total: mean=70.74s, total=141.49s, count=2, min=3114.1ms, max=138372.6ms
+  sensor_polling: mean=338.4ms, total=101.51s, count=300, min=288.1ms, max=584.8ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8109.2ms, max=8109.2ms
+  physics_step: mean=19.4ms, total=5.81s, count=300, min=14.1ms, max=30.3ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2916.0ms, max=2916.0ms
+  task_sampling: mean=347.1ms, total=694.2ms, count=2, min=329.5ms, max=364.7ms
+  task_specific_sample: mean=343.3ms, total=686.6ms, count=2, min=325.6ms, max=361.0ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms
+  mj_forward_sync: mean=353.2us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:13:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:13:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:13:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:13:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012324m	[env.py: 870]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25223651 -1.26146083  0.01232434] yaw=150.8deg	[env.py: 1019]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01291869 -1.0347434   0.01232434] yaw=179.1deg	[env.py: 1019]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04535958 -1.16357775  0.01232434] yaw=138.8deg	[env.py: 1019]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.5ms, total=156.5ms	[env.py: 1075]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.252, -1.261, 0.012)	[env.py: 1079]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
+05/14 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:13:39 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:13:39 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]
+05/14 23:13:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:13:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:13:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:13:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 121.153[deg]	[grasp_sample.py: 539]
+05/14 23:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:13:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:13:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:13:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:13:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:14:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:14:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:14:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:14:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:14:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 10.69s (batch: 2.51s, save: 8.18s)	[pipeline.py: 300]
+05/14 23:14:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:14:19 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.51s:
+  episode_total: mean=149.85s, total=149.85s, count=1, min=149854.2ms, max=149854.2ms
+  sensor_polling: mean=372.7ms, total=111.82s, count=300, min=316.8ms, max=582.5ms
+  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8176.1ms, max=8176.1ms
+  physics_step: mean=19.6ms, total=5.89s, count=300, min=13.3ms, max=29.6ms
+  save_batch_prep: mean=2.51s, total=2.51s, count=1, min=2511.3ms, max=2511.3ms
+  task_sampling: mean=513.2ms, total=513.2ms, count=1, min=513.2ms, max=513.2ms
+  task_specific_sample: mean=509.5ms, total=509.5ms, count=1, min=509.5ms, max=509.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=403.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.3us, 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]
+05/14 23:14:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:14:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:20 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: 273]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005583m	[env.py: 870]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15981733 -0.55172521  0.00558306] yaw=-182.0deg	[env.py: 1019]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.58244028 -0.06024012  0.00558306] yaw=-102.7deg	[env.py: 1019]
+05/14 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.06044794 -0.76749273  0.00558306] yaw=-183.4deg	[env.py: 1019]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=151.8ms, total=151.9ms	[env.py: 1075]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.160, -0.552, 0.006)	[env.py: 1079]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.0 deg	[env.py: 1082]
+05/14 23:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/14 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:21 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:21 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]
+05/14 23:14:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.641[m] 107.066[deg]	[grasp_sample.py: 539]
+05/14 23:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:14:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:14:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:14:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:14:37 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/14 23:14:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:14:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:14:46 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]
+05/14 23:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:47 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.046[m] 3.371[deg]	[grasp_sample.py: 539]
+05/14 23:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:14:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:14:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:14:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.71s (batch: 2.81s, save: 9.90s)	[pipeline.py: 300]
+05/14 23:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004098m	[env.py: 870]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23915336 -0.74307573 -0.0040975 ] yaw=-200.2deg	[env.py: 1019]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12392267 -0.32396282 -0.0040975 ] yaw=-126.9deg	[env.py: 1019]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.29496647 -0.08311524 -0.0040975 ] yaw=-120.6deg	[env.py: 1019]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.7ms, total=175.7ms	[env.py: 1075]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.239, -0.743, -0.004)	[env.py: 1079]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -200.2 deg	[env.py: 1082]
+05/14 23:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:50 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.20s:
+  episode_total: mean=75.76s, total=151.52s, count=2, min=2575.2ms, max=148947.0ms
+  sensor_polling: mean=357.7ms, total=105.51s, count=295, min=287.5ms, max=680.2ms
+  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9902.2ms, max=9902.2ms
+  physics_step: mean=22.5ms, total=6.64s, count=295, min=13.2ms, max=50.7ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2808.4ms, max=2808.4ms
+  task_sampling: mean=598.5ms, total=1.20s, count=2, min=563.0ms, max=634.1ms
+  task_specific_sample: mean=594.8ms, total=1.19s, count=2, min=559.0ms, max=630.6ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.3ms, max=1.6ms
+  mj_forward_sync: mean=403.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=11.8us, 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]
+05/14 23:14:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:50 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:51 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]
+05/14 23:14:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.550[m] 122.563[deg]	[grasp_sample.py: 539]
+05/14 23:14:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:14:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:14:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:14:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043574m	[env.py: 870]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.39827056  0.0075348   0.0435739 ] yaw=-155.9deg	[env.py: 1019]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02071877 -0.6105589   0.0435739 ] yaw=-161.5deg	[env.py: 1019]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.8ms, total=271.9ms	[env.py: 1075]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.398, 0.008, 0.044)	[env.py: 1079]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
+05/14 23:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:52 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:52 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]
+05/14 23:14:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.713s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:14:54 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:14:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:14:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014272m	[env.py: 870]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.5050527  -0.05989007 -0.01427169] yaw=-137.3deg	[env.py: 1019]
+05/14 23:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.13721703 -0.15034313 -0.01427169] yaw=-167.7deg	[env.py: 1019]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.4873093  -0.02512687 -0.01427169] yaw=-141.9deg	[env.py: 1019]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms	[env.py: 1075]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.505, -0.060, -0.014)	[env.py: 1079]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/14 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/14 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:56 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:14:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.755[m] 115.457[deg]	[grasp_sample.py: 539]
+05/14 23:14:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:14:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:14:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:15:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:15:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:41 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:15:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:15:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:56 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:15:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:15:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:16:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:16:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:16:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.69s (batch: 2.97s, save: 8.72s)	[pipeline.py: 300]
+05/14 23:16:09 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.38s:
+  episode_total: mean=149.80s, total=149.80s, count=1, min=149803.6ms, max=149803.6ms
+  sensor_polling: mean=352.4ms, total=105.73s, count=300, min=287.7ms, max=594.0ms
+  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8715.6ms, max=8715.6ms
+  physics_step: mean=19.7ms, total=5.90s, count=300, min=14.0ms, max=27.6ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2969.7ms, max=2969.7ms
+  task_sampling: mean=375.2ms, total=375.2ms, count=1, min=375.2ms, max=375.2ms
+  task_specific_sample: mean=371.1ms, total=371.1ms, count=1, min=371.1ms, max=371.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/14 23:16:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:16:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:16:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:16:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:16:10 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: 273]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009161m	[env.py: 870]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.16847748 -1.23102834  0.00916052] yaw=168.2deg	[env.py: 1019]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.10921183 -0.89065243  0.00916052] yaw=155.5deg	[env.py: 1019]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=515.4ms, total=515.4ms	[env.py: 1075]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.168, -1.231, 0.009)	[env.py: 1079]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
+05/14 23:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/14 23:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:16:11 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:16:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:16:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:16:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.069s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.724[m] 95.508[deg]	[grasp_sample.py: 539]
+05/14 23:16:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:16:23 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:16:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:16:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:16:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:16:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:16:44 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]
+05/14 23:16:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:45 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:16:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.228[deg]	[grasp_sample.py: 539]
+05/14 23:16:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:16:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:16:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.42s (batch: 2.54s, save: 8.88s)	[pipeline.py: 300]
+05/14 23:16:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
+  episode_total: mean=149.80s, total=149.80s, count=1, min=149804.3ms, max=149804.3ms
+  sensor_polling: mean=375.3ms, total=112.60s, count=300, min=337.1ms, max=573.7ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8880.3ms, max=8880.3ms
+  physics_step: mean=20.2ms, total=6.07s, count=300, min=13.9ms, max=29.1ms
+  save_batch_prep: mean=2.54s, total=2.54s, count=1, min=2536.7ms, max=2536.7ms
+  task_sampling: mean=431.9ms, total=431.9ms, count=1, min=431.9ms, max=431.9ms
+  task_specific_sample: mean=427.6ms, total=427.6ms, count=1, min=427.6ms, max=427.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=611.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:16:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:16:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:16:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:16:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:16:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:16:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:16:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020805m	[env.py: 870]
+05/14 23:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:16:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35523947 -1.16951106 -0.0208052 ] yaw=133.1deg	[env.py: 1019]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 180.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22252409 -1.21550285 -0.0208052 ] yaw=145.3deg	[env.py: 1019]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.14834684 -0.94249738 -0.0208052 ] yaw=174.1deg	[env.py: 1019]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:16:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.5ms, total=173.5ms	[env.py: 1075]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.355, -1.170, -0.021)	[env.py: 1079]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.1 deg	[env.py: 1082]
+05/14 23:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/14 23:16:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:16:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:16:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:16:52 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]
+05/14 23:16:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 89.706[deg]	[grasp_sample.py: 539]
+05/14 23:16:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:17:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:01 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:17:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:17:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:17:02 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:17:02 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.84s:
+  episode_total: mean=64.44s, total=128.88s, count=2, min=2345.8ms, max=126531.1ms
+  sensor_polling: mean=352.9ms, total=105.86s, count=300, min=286.8ms, max=697.8ms
+  physics_step: mean=20.5ms, total=6.15s, count=300, min=13.8ms, max=31.6ms
+  task_sampling: mean=419.0ms, total=837.9ms, count=2, min=352.9ms, max=485.1ms
+  task_specific_sample: mean=415.1ms, total=830.2ms, count=2, min=349.6ms, max=480.6ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.0ms, max=3.0ms
+  mj_forward_sync: mean=465.7us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.8us, 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]
+05/14 23:17:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:17:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:17:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:17:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:17:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:17:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020905m	[env.py: 870]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:17:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.52913821 -0.19630981  0.02090541] yaw=-106.4deg	[env.py: 1019]
+05/14 23:17:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.45825658  0.06363814  0.02090541] yaw=-120.5deg	[env.py: 1019]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.1343094  -0.34768393  0.02090541] yaw=-126.6deg	[env.py: 1019]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:17:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.6ms, total=324.6ms	[env.py: 1075]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.529, -0.196, 0.021)	[env.py: 1079]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.4 deg	[env.py: 1082]
+05/14 23:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/14 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:17:04 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:17:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:17:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:17:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 75.571[deg]	[grasp_sample.py: 539]
+05/14 23:17:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:17:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:17:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 12.53s (batch: 3.63s, save: 8.90s)	[pipeline.py: 300]
+05/14 23:17:14 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.30s:
+  episode_total: mean=65.26s, total=261.04s, count=4, min=224.6ms, max=144194.0ms
+  sensor_polling: mean=342.1ms, total=192.97s, count=564, min=287.5ms, max=786.9ms
+  physics_step: mean=20.8ms, total=11.72s, count=564, min=14.0ms, max=51.4ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8899.7ms, max=8899.7ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3634.0ms, max=3634.0ms
+  task_specific_sample: mean=378.0ms, total=1.51s, count=4, min=219.2ms, max=580.6ms
+  task_sampling: mean=434.4ms, total=1.30s, count=3, min=348.8ms, max=584.6ms
+  task_sampling_failed: mean=224.6ms, total=224.6ms, count=1, min=224.6ms, max=224.6ms
+  scene_randomize: mean=1.9ms, total=7.7ms, count=4, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=466.7us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:17:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:17:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:17:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:17:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:17:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:17:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083647m	[env.py: 870]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:17:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.3ms, total=225.4ms	[env.py: 1105]
+05/14 23:17:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 23:17:16 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 23:17:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:18 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:17:18 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:17:18 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
+05/14 23:17:18 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=2551.90s
+  House averages:
+  episode_total: mean=77.56s, total=1396.06s, count=18, min=224.6ms, max=157428.8ms
+  sensor_polling: mean=329.4ms, total=976.29s, count=2964, min=286.1ms, max=786.9ms
+  save_trajectories: mean=8.78s, total=70.23s, count=8, min=8457.6ms, max=9107.8ms
+  physics_step: mean=20.4ms, total=60.36s, count=2964, min=13.9ms, max=69.8ms
+  save_batch_prep: mean=3.27s, total=26.12s, count=8, min=2516.6ms, max=5119.6ms
+  task_sampling: mean=578.9ms, total=9.26s, count=16, min=344.1ms, max=3038.9ms
+  task_specific_sample: mean=391.5ms, total=7.05s, count=18, min=219.2ms, max=580.6ms
+  scene_load: mean=2.60s, total=2.60s, count=1, min=2595.3ms, max=2595.3ms
+  scene_env_create: mean=1.69s, total=1.69s, count=1, min=1692.8ms, max=1692.8ms
+  scene_compile: mean=729.9ms, total=729.9ms, count=1, min=729.9ms, max=729.9ms
+  compile_mujoco: mean=512.2ms, total=512.2ms, count=1, min=512.2ms, max=512.2ms
+  task_sampling_failed: mean=231.0ms, total=462.0ms, count=2, min=224.6ms, max=237.4ms
+  compile_xml_load: mean=145.8ms, total=145.8ms, count=1, min=145.8ms, max=145.8ms
+  scene_init: mean=129.3ms, total=129.3ms, count=1, min=129.3ms, max=129.3ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.3ms, total=42.0ms, count=18, min=1.1ms, max=5.3ms
+  asset_install_grasps: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=455.3us, total=8.2ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=22.6us, total=0.4ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:17:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:17:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=2551.90s
+  Worker averages:
+  episode_total: mean=77.56s, total=1396.06s, count=18, min=224.6ms, max=157428.8ms
+  sensor_polling: mean=329.4ms, total=976.29s, count=2964, min=286.1ms, max=786.9ms
+  save_trajectories: mean=8.78s, total=70.23s, count=8, min=8457.6ms, max=9107.8ms
+  physics_step: mean=20.4ms, total=60.36s, count=2964, min=13.9ms, max=69.8ms
+  save_batch_prep: mean=3.27s, total=26.12s, count=8, min=2516.6ms, max=5119.6ms
+  task_sampling: mean=578.9ms, total=9.26s, count=16, min=344.1ms, max=3038.9ms
+  task_specific_sample: mean=391.5ms, total=7.05s, count=18, min=219.2ms, max=580.6ms
+  scene_load: mean=2.60s, total=2.60s, count=1, min=2595.3ms, max=2595.3ms
+  scene_env_create: mean=1.69s, total=1.69s, count=1, min=1692.8ms, max=1692.8ms
+  scene_compile: mean=729.9ms, total=729.9ms, count=1, min=729.9ms, max=729.9ms
+  compile_mujoco: mean=512.2ms, total=512.2ms, count=1, min=512.2ms, max=512.2ms
+  task_sampling_failed: mean=231.0ms, total=462.0ms, count=2, min=224.6ms, max=237.4ms
+  compile_xml_load: mean=145.8ms, total=145.8ms, count=1, min=145.8ms, max=145.8ms
+  scene_init: mean=129.3ms, total=129.3ms, count=1, min=129.3ms, max=129.3ms
+  compile_aux_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  compile_aux_policy_objects: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.3ms, total=42.0ms, count=18, min=1.1ms, max=5.3ms
+  asset_install_grasps: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=455.3us, total=8.2ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=22.6us, total=0.4ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:17:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:17:22 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
+05/14 23:17:22 INFO: Success rate: 88.89%	[pipeline.py: 1492]
+05/14 23:17:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:10 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:25 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:18:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:18:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:18:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:18:25 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]
+05/14 23:18:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.198[deg]	[grasp_sample.py: 539]
+05/14 23:18:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:18:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:18:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.57s (batch: 3.17s, save: 8.40s)	[pipeline.py: 300]
+05/14 23:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:18:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:18:37 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]
+05/14 23:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:37 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.73s:
+  episode_total: mean=147.17s, total=147.17s, count=1, min=147172.4ms, max=147172.4ms
+  sensor_polling: mean=361.1ms, total=108.33s, count=300, min=298.7ms, max=609.8ms
+  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8400.5ms, max=8400.5ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.3ms, max=74.5ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3172.0ms, max=3172.0ms
+  task_sampling: mean=734.8ms, total=734.8ms, count=1, min=734.8ms, max=734.8ms
+  task_specific_sample: mean=730.3ms, total=730.3ms, count=1, min=730.3ms, max=730.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=423.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, 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]
+05/14 23:18:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.206[deg]	[grasp_sample.py: 539]
+05/14 23:18:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:18:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:18:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019133m	[env.py: 870]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20980952 -0.49984987  0.01913262] yaw=-144.1deg	[env.py: 1019]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2573933  -0.61834528  0.01913262] yaw=-189.6deg	[env.py: 1019]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=571.6ms, total=571.7ms	[env.py: 1075]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.210, -0.500, 0.019)	[env.py: 1079]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.1 deg	[env.py: 1082]
+05/14 23:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:18:39 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:18:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:18:40 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]
+05/14 23:18:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.079s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.599[m] 113.871[deg]	[grasp_sample.py: 539]
+05/14 23:18:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:18:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:18:44 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]
+05/14 23:18:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.872[deg]	[grasp_sample.py: 539]
+05/14 23:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:47 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:18:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:18:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:18:48 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: 195]
+05/14 23:18:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:18:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036962m	[env.py: 870]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:18:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19567267 -0.23196007 -0.03696219] yaw=-126.9deg	[env.py: 1019]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23201939 -0.20668362 -0.03696219] yaw=-121.7deg	[env.py: 1019]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25710081 -0.92722416 -0.03696219] yaw=196.5deg	[env.py: 1019]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:18:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.6ms	[env.py: 1075]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.196, -0.232, -0.037)	[env.py: 1079]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.9 deg	[env.py: 1082]
+05/14 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:18:48 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:18:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:18:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:18:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:18:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:18:49 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]
+05/14 23:18:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.206[deg]	[grasp_sample.py: 539]
+05/14 23:18:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.777[m] 115.445[deg]	[grasp_sample.py: 539]
+05/14 23:18:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:19:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/14 23:19:01 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:19:01 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.40s:
+  episode_total: mean=129.08s, total=129.08s, count=1, min=129075.4ms, max=129075.4ms
+  sensor_polling: mean=378.2ms, total=90.02s, count=238, min=330.7ms, max=594.0ms
+  physics_step: mean=19.5ms, total=4.64s, count=238, min=11.6ms, max=27.3ms
+  task_sampling: mean=395.8ms, total=395.8ms, count=1, min=395.8ms, max=395.8ms
+  task_specific_sample: mean=391.9ms, total=391.9ms, count=1, min=391.9ms, max=391.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=363.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, 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]
+05/14 23:19:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:19:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:19:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:19:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:19:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:19:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:19:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083444m	[env.py: 870]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:19:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03242106 -0.80238315  0.08344352] yaw=-187.2deg	[env.py: 1019]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.03691985 -1.29600546  0.08344352] yaw=142.0deg	[env.py: 1019]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.51942207 -0.20880279  0.08344352] yaw=-145.4deg	[env.py: 1019]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:19:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.6ms	[env.py: 1075]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.032, -0.802, 0.083)	[env.py: 1079]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.2 deg	[env.py: 1082]
+05/14 23:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.107m	[env.py: 1086]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:19:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:19:02 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:19:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:19:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:19:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:19:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:19:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.287s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:19:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.736[m] 83.635[deg]	[grasp_sample.py: 539]
+05/14 23:19:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:19:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:19:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:19:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:19:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:20:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:20:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:27 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:20:42 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:20:43 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:20:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:20:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:20:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:20:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:20:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.78s (batch: 3.03s, save: 8.75s)	[pipeline.py: 300]
+05/14 23:20:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.79s:
+  episode_total: mean=136.80s, total=136.80s, count=1, min=136801.0ms, max=136801.0ms
+  sensor_polling: mean=328.1ms, total=98.43s, count=300, min=289.4ms, max=609.0ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8748.0ms, max=8748.0ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=14.2ms, max=45.8ms
+  save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3029.7ms, max=3029.7ms
+  task_sampling: mean=794.2ms, total=794.2ms, count=1, min=794.2ms, max=794.2ms
+  task_specific_sample: mean=789.9ms, total=789.9ms, count=1, min=789.9ms, max=789.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=432.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:20:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:20:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:20:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:20:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:20:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:20:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:20:57 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: 195]
+05/14 23:20:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:20:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044459m	[env.py: 870]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:20:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12103519 -0.9404943   0.04445913] yaw=173.3deg	[env.py: 1019]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18339665 -0.36066373  0.04445913] yaw=-136.0deg	[env.py: 1019]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.31221705 -0.41454743  0.04445913] yaw=-158.5deg	[env.py: 1019]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:20:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms	[env.py: 1075]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -0.940, 0.044)	[env.py: 1079]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg	[env.py: 1082]
+05/14 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:20:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:20:57 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]
+05/14 23:20:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:20:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:20:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:20:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.488[m] 73.597[deg]	[grasp_sample.py: 539]
+05/14 23:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:20:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:20:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:21:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:21:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:21:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:21:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.48s (batch: 3.03s, save: 8.45s)	[pipeline.py: 300]
+05/14 23:21:09 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.00s:
+  episode_total: mean=121.99s, total=243.99s, count=2, min=103343.3ms, max=140642.8ms
+  sensor_polling: mean=331.8ms, total=186.80s, count=563, min=269.1ms, max=794.1ms
+  physics_step: mean=19.8ms, total=11.15s, count=563, min=13.2ms, max=27.5ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8449.5ms, max=8449.5ms
+  save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3027.7ms, max=3027.7ms
+  task_sampling: mean=498.9ms, total=997.8ms, count=2, min=440.4ms, max=557.3ms
+  task_specific_sample: mean=495.3ms, total=990.5ms, count=2, min=436.1ms, max=554.4ms
+  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.2ms, max=1.7ms
+  mj_forward_sync: mean=369.7us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:21:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:21:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:21:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:21:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:21:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:21:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:21:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.055m, effective arm-mount z=0.805m (base_body_z=-0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.054695m	[env.py: 870]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:21:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.50031753  0.06784923 -0.05469548] yaw=-145.4deg	[env.py: 1019]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01799438 -0.31249681 -0.05469548] yaw=-127.2deg	[env.py: 1019]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.56241141 -0.03693351 -0.05469548] yaw=-130.9deg	[env.py: 1019]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:21:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.7ms, total=255.7ms	[env.py: 1075]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.500, 0.068, -0.055)	[env.py: 1079]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg	[env.py: 1082]
+05/14 23:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:21:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:21:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:21:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:21:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:21:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:21:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:21:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.865s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:21:12 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:21:13 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:21:13 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:21:13 INFO: [Worker 0] Worker 0 completed house 1: 8/10 successful episodes	[pipeline.py: 1323]
+05/14 23:21:13 INFO: [Worker 0] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=3024.49s
+  House averages:
+  episode_total: mean=90.94s, total=1636.90s, count=18, min=164.6ms, max=148947.0ms
+  sensor_polling: mean=340.5ms, total=1194.16s, count=3507, min=264.0ms, max=794.1ms
+  save_trajectories: mean=9.19s, total=73.52s, count=8, min=8449.5ms, max=9902.2ms
+  physics_step: mean=20.4ms, total=71.66s, count=3507, min=13.2ms, max=62.9ms
+  save_batch_prep: mean=2.91s, total=23.27s, count=8, min=2668.4ms, max=3035.7ms
+  task_sampling: mean=619.8ms, total=10.54s, count=17, min=310.8ms, max=3228.9ms
+  task_specific_sample: mean=445.1ms, total=8.01s, count=18, min=159.2ms, max=650.9ms
+  scene_load: mean=2.62s, total=2.62s, count=1, min=2625.0ms, max=2625.0ms
+  scene_env_create: mean=1.59s, total=1.59s, count=1, min=1591.7ms, max=1591.7ms
+  scene_compile: mean=899.4ms, total=899.4ms, count=1, min=899.4ms, max=899.4ms
+  compile_mujoco: mean=531.2ms, total=531.2ms, count=1, min=531.2ms, max=531.2ms
+  compile_xml_load: mean=301.8ms, total=301.8ms, count=1, min=301.8ms, max=301.8ms
+  task_sampling_failed: mean=164.6ms, total=164.6ms, count=1, min=164.6ms, max=164.6ms
+  scene_init: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_asset_install: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms
+  compile_aux_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_aux_policy_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  scene_randomize: mean=1.9ms, total=33.4ms, count=18, min=1.0ms, max=3.0ms
+  asset_install_grasps: mean=33.1ms, total=33.1ms, count=1, min=33.1ms, max=33.1ms
+  compile_robot_add: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms
+  asset_install_objects: mean=13.1ms, total=13.1ms, count=1, min=13.1ms, max=13.1ms
+  mj_forward_sync: mean=392.8us, total=7.1ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.6us, 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]
+05/14 23:21:14 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:21:14 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3024.49s
+  Worker averages:
+  episode_total: mean=90.94s, total=1636.90s, count=18, min=164.6ms, max=148947.0ms
+  sensor_polling: mean=340.5ms, total=1194.16s, count=3507, min=264.0ms, max=794.1ms
+  save_trajectories: mean=9.19s, total=73.52s, count=8, min=8449.5ms, max=9902.2ms
+  physics_step: mean=20.4ms, total=71.66s, count=3507, min=13.2ms, max=62.9ms
+  save_batch_prep: mean=2.91s, total=23.27s, count=8, min=2668.4ms, max=3035.7ms
+  task_sampling: mean=619.8ms, total=10.54s, count=17, min=310.8ms, max=3228.9ms
+  task_specific_sample: mean=445.1ms, total=8.01s, count=18, min=159.2ms, max=650.9ms
+  scene_load: mean=2.62s, total=2.62s, count=1, min=2625.0ms, max=2625.0ms
+  scene_env_create: mean=1.59s, total=1.59s, count=1, min=1591.7ms, max=1591.7ms
+  scene_compile: mean=899.4ms, total=899.4ms, count=1, min=899.4ms, max=899.4ms
+  compile_mujoco: mean=531.2ms, total=531.2ms, count=1, min=531.2ms, max=531.2ms
+  compile_xml_load: mean=301.8ms, total=301.8ms, count=1, min=301.8ms, max=301.8ms
+  task_sampling_failed: mean=164.6ms, total=164.6ms, count=1, min=164.6ms, max=164.6ms
+  scene_init: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_asset_install: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms
+  compile_aux_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  compile_aux_policy_objects: mean=40.4ms, total=40.4ms, count=1, min=40.4ms, max=40.4ms
+  scene_randomize: mean=1.9ms, total=33.4ms, count=18, min=1.0ms, max=3.0ms
+  asset_install_grasps: mean=33.1ms, total=33.1ms, count=1, min=33.1ms, max=33.1ms
+  compile_robot_add: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms
+  asset_install_objects: mean=13.1ms, total=13.1ms, count=1, min=13.1ms, max=13.1ms
+  mj_forward_sync: mean=392.8us, total=7.1ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.6us, 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]
+05/14 23:21:16 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:21:16 INFO: Success count: 8, Total count: 10	[pipeline.py: 1491]
+05/14 23:21:16 INFO: Success rate: 80.00%	[pipeline.py: 1492]
+05/14 23:21:19 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:21:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:21:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:21:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:21:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:21:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.03s (batch: 2.40s, save: 8.63s)	[pipeline.py: 300]
+05/14 23:21:30 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.37s:
+  episode_total: mean=148.37s, total=148.37s, count=1, min=148365.9ms, max=148365.9ms
+  sensor_polling: mean=367.2ms, total=110.16s, count=300, min=327.3ms, max=592.9ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8631.4ms, max=8631.4ms
+  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.5ms, max=33.9ms
+  save_batch_prep: mean=2.40s, total=2.40s, count=1, min=2400.8ms, max=2400.8ms
+  task_sampling: mean=370.8ms, total=370.8ms, count=1, min=370.8ms, max=370.8ms
+  task_specific_sample: mean=367.6ms, total=367.6ms, count=1, min=367.6ms, max=367.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=392.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=10.5us, 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]
+05/14 23:21:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:21:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:21:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:21:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:21:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:21:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:21:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061811m	[env.py: 870]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:21:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.26002812 -1.15864847  0.06181133] yaw=175.9deg	[env.py: 1019]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.3316963  -0.01772133  0.06181133] yaw=-132.9deg	[env.py: 1019]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32673632 -0.22198234  0.06181133] yaw=-113.5deg	[env.py: 1019]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.8ms	[env.py: 1075]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.260, -1.159, 0.062)	[env.py: 1079]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.9 deg	[env.py: 1082]
+05/14 23:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/14 23:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:21:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:21:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:21:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:21:32 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]
+05/14 23:21:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:21:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:21:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:21:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.533[m] 98.976[deg]	[grasp_sample.py: 539]
+05/14 23:21:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:21:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:21:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:21:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:21:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:22:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:23:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:23:20 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]
+05/14 23:23:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:23:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:23:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.347[deg]	[grasp_sample.py: 539]
+05/14 23:23:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:23:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:23:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:23:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:23:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:37 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:23:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:23:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:23:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:23:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:23:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:23:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.59s (batch: 3.05s, save: 8.54s)	[pipeline.py: 300]
+05/14 23:23:49 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.30s:
+  episode_total: mean=172.17s, total=172.17s, count=1, min=172169.4ms, max=172169.4ms
+  sensor_polling: mean=341.2ms, total=102.36s, count=300, min=291.6ms, max=620.4ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8538.5ms, max=8538.5ms
+  physics_step: mean=19.8ms, total=5.95s, count=300, min=13.9ms, max=28.4ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3051.2ms, max=3051.2ms
+  task_sampling: mean=297.9ms, total=297.9ms, count=1, min=297.9ms, max=297.9ms
+  task_specific_sample: mean=294.2ms, total=294.2ms, count=1, min=294.2ms, max=294.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=409.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/14 23:23:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:23:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:23:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:23:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:23:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:23:51 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: 273]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087623m	[env.py: 870]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:23:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10028363 -0.96071302  0.08762256] yaw=168.6deg	[env.py: 1019]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27159079 -0.14461595  0.08762256] yaw=-134.0deg	[env.py: 1019]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.55808254 -0.0255464   0.08762256] yaw=-149.5deg	[env.py: 1019]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:23:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.8ms, total=123.8ms	[env.py: 1075]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.961, 0.088)	[env.py: 1079]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg	[env.py: 1082]
+05/14 23:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:23:51 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:23:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:23:51 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]
+05/14 23:23:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:23:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:23:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:23:52 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]
+05/14 23:23:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:23:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:23:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.582[m] 84.487[deg]	[grasp_sample.py: 539]
+05/14 23:23:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:23:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:23:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:23:53 INFO: [Worker 0] Feasibility-checked 72 grasps in 1.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:23:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.038[m] 1.258[deg]	[grasp_sample.py: 539]
+05/14 23:23:54 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:23:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:23:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:23:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:23:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:23:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:23:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017397m	[env.py: 870]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:23:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.09668796 -0.98765149  0.01739663] yaw=160.4deg	[env.py: 1019]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.19231607 -0.03894837  0.01739663] yaw=-147.4deg	[env.py: 1019]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11446907 -0.74059964  0.01739663] yaw=-161.9deg	[env.py: 1019]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:23:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.1ms, total=176.1ms	[env.py: 1075]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.097, -0.988, 0.017)	[env.py: 1079]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.4 deg	[env.py: 1082]
+05/14 23:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:23:56 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:23:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:23:56 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]
+05/14 23:23:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:23:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:23:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.669[m] 107.795[deg]	[grasp_sample.py: 539]
+05/14 23:23:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:23:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:23:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:24:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:24:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:24:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:24:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:24:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:25:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:25:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:25:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:25:41 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:25:41 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.348[deg]	[grasp_sample.py: 539]
+05/14 23:25:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:25:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:25:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:25:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:25:56 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:25:56 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:26:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:26:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:26:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:26:12 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:26:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:26:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:26:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:26:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:26:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.41s (batch: 2.91s, save: 8.50s)	[pipeline.py: 300]
+05/14 23:26:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:26:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:26:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.25s (batch: 2.90s, save: 8.35s)	[pipeline.py: 300]
+05/14 23:26:24 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.70s:
+  episode_total: mean=145.45s, total=290.90s, count=2, min=142377.9ms, max=148524.8ms
+  sensor_polling: mean=372.4ms, total=220.45s, count=592, min=322.6ms, max=706.6ms
+  physics_step: mean=19.2ms, total=11.37s, count=592, min=12.2ms, max=26.6ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8501.3ms, max=8501.3ms
+  save_batch_prep: mean=2.91s, total=2.91s, count=1, min=2906.3ms, max=2906.3ms
+  task_sampling: mean=349.7ms, total=699.4ms, count=2, min=321.6ms, max=377.8ms
+  task_specific_sample: mean=346.0ms, total=691.9ms, count=2, min=317.7ms, max=374.2ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
+  mj_forward_sync: mean=412.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, 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]
+05/14 23:26:24 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.35s:
+  episode_total: mean=153.55s, total=153.55s, count=1, min=153555.0ms, max=153555.0ms
+  sensor_polling: mean=334.5ms, total=100.35s, count=300, min=291.2ms, max=626.6ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.5ms, max=8350.5ms
+  physics_step: mean=19.6ms, total=5.87s, count=300, min=12.3ms, max=35.1ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2897.1ms, max=2897.1ms
+  task_sampling: mean=346.0ms, total=346.0ms, count=1, min=346.0ms, max=346.0ms
+  task_specific_sample: mean=341.3ms, total=341.3ms, count=1, min=341.3ms, max=341.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=402.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:26:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:26:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091485m	[env.py: 870]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05935524 -0.72527767 -0.09148497] yaw=-180.0deg	[env.py: 1019]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.1889857  -0.36079424 -0.09148497] yaw=-173.5deg	[env.py: 1019]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.31188563 -0.2325512  -0.09148497] yaw=-153.6deg	[env.py: 1019]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.3ms, total=128.3ms	[env.py: 1075]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.059, -0.725, -0.091)	[env.py: 1079]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg	[env.py: 1082]
+05/14 23:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:26:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:26:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:26:25 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]
+05/14 23:26:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:26:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:26:26 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:26:26 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:26:26 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/14 23:26:26 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=3531.73s
+  House averages:
+  episode_total: mean=107.93s, total=1942.74s, count=18, min=275.3ms, max=172169.4ms
+  sensor_polling: mean=343.1ms, total=1333.78s, count=3887, min=273.0ms, max=717.6ms
+  save_trajectories: mean=8.62s, total=112.12s, count=13, min=7914.5ms, max=9248.4ms
+  physics_step: mean=19.9ms, total=77.26s, count=3887, min=12.3ms, max=74.5ms
+  save_batch_prep: mean=3.17s, total=41.24s, count=13, min=2674.8ms, max=4303.0ms
+  task_specific_sample: mean=433.1ms, total=7.80s, count=18, min=191.5ms, max=789.9ms
+  task_sampling: mean=462.8ms, total=7.40s, count=16, min=297.9ms, max=794.2ms
+  task_sampling_failed: mean=1.55s, total=3.09s, count=2, min=275.3ms, max=2814.8ms
+  scene_load: mean=2.62s, total=2.62s, count=1, min=2619.5ms, max=2619.5ms
+  scene_env_create: mean=1.57s, total=1.57s, count=1, min=1569.3ms, max=1569.3ms
+  scene_compile: mean=823.9ms, total=823.9ms, count=1, min=823.9ms, max=823.9ms
+  compile_mujoco: mean=499.5ms, total=499.5ms, count=1, min=499.5ms, max=499.5ms
+  compile_xml_load: mean=264.9ms, total=264.9ms, count=1, min=264.9ms, max=264.9ms
+  scene_asset_install: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms
+  asset_install_grasps: mean=131.2ms, total=131.2ms, count=1, min=131.2ms, max=131.2ms
+  scene_init: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms
+  scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=1.1ms, max=7.0ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_objects: mean=15.3ms, total=15.3ms, count=1, min=15.3ms, max=15.3ms
+  mj_forward_sync: mean=418.2us, total=7.5ms, count=18, min=0.3ms, max=0.5ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=21.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:26:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:26:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=3531.73s
+  Worker averages:
+  episode_total: mean=107.93s, total=1942.74s, count=18, min=275.3ms, max=172169.4ms
+  sensor_polling: mean=343.1ms, total=1333.78s, count=3887, min=273.0ms, max=717.6ms
+  save_trajectories: mean=8.62s, total=112.12s, count=13, min=7914.5ms, max=9248.4ms
+  physics_step: mean=19.9ms, total=77.26s, count=3887, min=12.3ms, max=74.5ms
+  save_batch_prep: mean=3.17s, total=41.24s, count=13, min=2674.8ms, max=4303.0ms
+  task_specific_sample: mean=433.1ms, total=7.80s, count=18, min=191.5ms, max=789.9ms
+  task_sampling: mean=462.8ms, total=7.40s, count=16, min=297.9ms, max=794.2ms
+  task_sampling_failed: mean=1.55s, total=3.09s, count=2, min=275.3ms, max=2814.8ms
+  scene_load: mean=2.62s, total=2.62s, count=1, min=2619.5ms, max=2619.5ms
+  scene_env_create: mean=1.57s, total=1.57s, count=1, min=1569.3ms, max=1569.3ms
+  scene_compile: mean=823.9ms, total=823.9ms, count=1, min=823.9ms, max=823.9ms
+  compile_mujoco: mean=499.5ms, total=499.5ms, count=1, min=499.5ms, max=499.5ms
+  compile_xml_load: mean=264.9ms, total=264.9ms, count=1, min=264.9ms, max=264.9ms
+  scene_asset_install: mean=149.3ms, total=149.3ms, count=1, min=149.3ms, max=149.3ms
+  asset_install_grasps: mean=131.2ms, total=131.2ms, count=1, min=131.2ms, max=131.2ms
+  scene_init: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms
+  scene_randomize: mean=2.6ms, total=47.2ms, count=18, min=1.1ms, max=7.0ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_objects: mean=15.3ms, total=15.3ms, count=1, min=15.3ms, max=15.3ms
+  mj_forward_sync: mean=418.2us, total=7.5ms, count=18, min=0.3ms, max=0.5ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=21.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:26:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:26:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 77.578[deg]	[grasp_sample.py: 539]
+05/14 23:26:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:26:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:26:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:26:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:26:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:26:29 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/14 23:26:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 23:27:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:27:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:27:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:28:25 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:28:42 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:28:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:28:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:28:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:28:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:28:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.42s (batch: 2.69s, save: 8.73s)	[pipeline.py: 300]
+05/14 23:28:54 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.34s:
+  episode_total: mean=149.19s, total=149.19s, count=1, min=149187.5ms, max=149187.5ms
+  sensor_polling: mean=363.2ms, total=108.97s, count=300, min=314.8ms, max=673.1ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8725.4ms, max=8725.4ms
+  physics_step: mean=19.0ms, total=5.70s, count=300, min=13.2ms, max=38.6ms
+  save_batch_prep: mean=2.69s, total=2.69s, count=1, min=2694.7ms, max=2694.7ms
+  task_sampling: mean=341.4ms, total=341.4ms, count=1, min=341.4ms, max=341.4ms
+  task_specific_sample: mean=337.5ms, total=337.5ms, count=1, min=337.5ms, max=337.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=409.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.3us, 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]
+05/14 23:28:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:28:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:28:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:28:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:28:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:28:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052132m	[env.py: 870]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12328851 -1.06180514  0.05213177] yaw=193.8deg	[env.py: 1019]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15195755 -0.20172835  0.05213177] yaw=-158.1deg	[env.py: 1019]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.36279252 -0.28097833  0.05213177] yaw=-158.0deg	[env.py: 1019]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:28:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.3ms, total=105.4ms	[env.py: 1075]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -1.062, 0.052)	[env.py: 1079]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.8 deg	[env.py: 1082]
+05/14 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:28:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:28:56 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:28:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:28:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:28:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:28:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:28:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.368s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:28:59 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.722[m] 90.049[deg]	[grasp_sample.py: 539]
+05/14 23:28:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:29:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:29:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:29:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:30:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:30:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:30:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:31:14 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[pipeline.py: 1174]
+05/14 23:31:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_203 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:31:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:31:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:31:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_203	[save_utils.py: 785]
+05/14 23:31:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_203 in 11.44s (batch: 2.67s, save: 8.77s)	[pipeline.py: 300]
+05/14 23:31:26 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.32s:
+  episode_total: mean=150.36s, total=150.36s, count=1, min=150364.5ms, max=150364.5ms
+  sensor_polling: mean=363.2ms, total=108.97s, count=300, min=313.4ms, max=657.4ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8770.5ms, max=8770.5ms
+  physics_step: mean=18.6ms, total=5.58s, count=300, min=14.2ms, max=21.4ms
+  save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2673.5ms, max=2673.5ms
+  task_sampling: mean=323.5ms, total=323.5ms, count=1, min=323.5ms, max=323.5ms
+  task_specific_sample: mean=319.8ms, total=319.8ms, count=1, min=319.8ms, max=319.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=405.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.2us, 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]
+05/14 23:31:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:31:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:31:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:31:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:31:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:31:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:31:27 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: 273]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073850m	[env.py: 870]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:31:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12112801 -0.83004681  0.07385014] yaw=154.2deg	[env.py: 1019]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25286947 -0.03900793  0.07385014] yaw=-132.6deg	[env.py: 1019]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25748803 -0.54331191  0.07385014] yaw=-149.7deg	[env.py: 1019]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.3ms, total=116.3ms	[env.py: 1075]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.121, -0.830, 0.074)	[env.py: 1079]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg	[env.py: 1082]
+05/14 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.196m	[env.py: 1086]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:31:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:31:27 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:31:27 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]
+05/14 23:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:31:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:31:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.389s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:31:30 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:31:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:31:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:31:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:31:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:31:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:31:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:31:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061100m	[env.py: 870]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:31:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=167.5ms, total=167.5ms	[env.py: 1105]
+05/14 23:31:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 23:31:31 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 23:31:32 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:31:32 WARNING: [Worker 0] No trajectory data to save for chunk_203	[pipeline.py: 234]
+05/14 23:31:32 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/14 23:31:32 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=4152.57s
+  House averages:
+  episode_total: mean=125.20s, total=2253.65s, count=18, min=176.1ms, max=177372.3ms
+  sensor_polling: mean=371.4ms, total=1642.95s, count=4424, min=312.1ms, max=706.6ms
+  save_trajectories: mean=8.60s, total=111.82s, count=13, min=8176.1ms, max=8880.3ms
+  physics_step: mean=19.8ms, total=87.63s, count=4424, min=11.6ms, max=74.6ms
+  save_batch_prep: mean=2.62s, total=34.02s, count=13, min=2400.8ms, max=2906.3ms
+  task_sampling: mean=550.3ms, total=9.35s, count=17, min=321.6ms, max=2750.4ms
+  task_specific_sample: mean=393.5ms, total=7.08s, count=18, min=171.9ms, max=684.9ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2377.9ms, max=2377.9ms
+  scene_env_create: mean=1.31s, total=1.31s, count=1, min=1308.7ms, max=1308.7ms
+  scene_compile: mean=945.0ms, total=945.0ms, count=1, min=945.0ms, max=945.0ms
+  compile_mujoco: mean=627.7ms, total=627.7ms, count=1, min=627.7ms, max=627.7ms
+  compile_xml_load: mean=197.5ms, total=197.5ms, count=1, min=197.5ms, max=197.5ms
+  task_sampling_failed: mean=176.1ms, total=176.1ms, count=1, min=176.1ms, max=176.1ms
+  compile_aux_objects: mean=98.8ms, total=98.8ms, count=1, min=98.8ms, max=98.8ms
+  compile_aux_policy_objects: mean=98.8ms, total=98.8ms, count=1, min=98.8ms, max=98.8ms
+  scene_init: mean=79.8ms, total=79.8ms, count=1, min=79.8ms, max=79.8ms
+  scene_asset_install: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms
+  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=417.7us, total=7.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=19.8us, total=0.3ms, 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]
+05/14 23:31:33 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:31:33 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4152.57s
+  Worker averages:
+  episode_total: mean=125.20s, total=2253.65s, count=18, min=176.1ms, max=177372.3ms
+  sensor_polling: mean=371.4ms, total=1642.95s, count=4424, min=312.1ms, max=706.6ms
+  save_trajectories: mean=8.60s, total=111.82s, count=13, min=8176.1ms, max=8880.3ms
+  physics_step: mean=19.8ms, total=87.63s, count=4424, min=11.6ms, max=74.6ms
+  save_batch_prep: mean=2.62s, total=34.02s, count=13, min=2400.8ms, max=2906.3ms
+  task_sampling: mean=550.3ms, total=9.35s, count=17, min=321.6ms, max=2750.4ms
+  task_specific_sample: mean=393.5ms, total=7.08s, count=18, min=171.9ms, max=684.9ms
+  scene_load: mean=2.38s, total=2.38s, count=1, min=2377.9ms, max=2377.9ms
+  scene_env_create: mean=1.31s, total=1.31s, count=1, min=1308.7ms, max=1308.7ms
+  scene_compile: mean=945.0ms, total=945.0ms, count=1, min=945.0ms, max=945.0ms
+  compile_mujoco: mean=627.7ms, total=627.7ms, count=1, min=627.7ms, max=627.7ms
+  compile_xml_load: mean=197.5ms, total=197.5ms, count=1, min=197.5ms, max=197.5ms
+  task_sampling_failed: mean=176.1ms, total=176.1ms, count=1, min=176.1ms, max=176.1ms
+  compile_aux_objects: mean=98.8ms, total=98.8ms, count=1, min=98.8ms, max=98.8ms
+  compile_aux_policy_objects: mean=98.8ms, total=98.8ms, count=1, min=98.8ms, max=98.8ms
+  scene_init: mean=79.8ms, total=79.8ms, count=1, min=79.8ms, max=79.8ms
+  scene_asset_install: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms
+  compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=417.7us, total=7.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=19.8us, total=0.3ms, 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]
+05/14 23:31:35 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:31:35 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/14 23:31:35 INFO: Success rate: 92.86%	[pipeline.py: 1492]
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