diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c96e2bf13c5f3eac9dcb51e5854887f871e07ec4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e32afe6e594965e537af916194038cccbdeb1e048a91988c0eb518c7ee95b69
+size 706161
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84ead64427bedde4738cf13362f3dcb0b95824f2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa5e10a9e3077bd4405cc8cd83b5dfd49c441ee03ee04e512aaf33589653eb40
+size 931640
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5daf89dab0b99e828dd39427b589ede1a2ca7071
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ed935b30f4a23688727cc413fd03a360ffa919a9d6a2c5525332d17cc276cc8
+size 626047
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e84d28f2268794728b6f1d76a2e39e6447f59e28
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5350a6d77259e1fcf268a76bc13f3b971a16acdeef55c6de88b6723b73738958
+size 763903
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c28c75d0985d3a7de759cfc7a7c26a33aa4236e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c26db99777be662fb3280d537d0a9dd7188679ecfd028f9c4321bd1ac4b9d59
+size 594608
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9448e190f862fb2d82fb4d58508d89c09743ea0c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51c35c23b0baaf785bc6c6c28d09acd90c30d586cfe7ac8b5a24cb6f3c30f83
+size 840013
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d886aac455cfd97a345fe673cb387027d840fbb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c04cb9c392429f562ec09ca604f9ebb67a0a06891b66c67b61169e3fd934b54a
+size 504091
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3970b6e1b47c0a606f7f014bd21bb06c8551e6c9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:268d4c0698cb6c6c0190c612ef67dd98252669b530868d9d3944728d3d0c9527
+size 636057
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d705236ee96ea2d77bd547b266671b3b29344b4f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229c345b1897144154f05b649895a07c3f6ea606eb95f828e413a1cef92dcf51
+size 693078
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4dabc3feea6488808fae299f686cf386c5d092e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d60f2186e47260ad401e6bee1d6c4d38e6bfd2963bae33feb1e0282d8a2a06d
+size 920901
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33d38b7101b38131dbcdc71e4dc544b6b53feaea
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb3eb423efaf8654fa0c4bf087f4839e1db6adbf2aab292bc08c074846cf1f24
+size 585747
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a758aa0ab0dd63ceb285936b2370f709f9abd7c5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f760a5cad04343ddb5707454f39d7b56719d1803924c3def9aab8b6a8a581595
+size 766667
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5aac4e13722485f9203d586b6a512396200f552f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0818eb8f074b7d32d163d75ce2f571119d871c3aead5c24e652393a7174cb65
+size 659427
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e799332bac7092815eb44ef99de39ef69a58071e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e232addae757ed3239c6f72881e893978a86606af6d2c6cd88397175e9a4b646
+size 667803
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad07fb621eacc41d6cad01dee1430bd627752379
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2126518ecb1290d0572ff55d3f15312d92626e328e954ff6968c1f5f6fbf9796
+size 705423
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36592762cce1524c48b0386c605d4dd0e21d6b7c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4e6219948a3cdef80293e7619b338650992089ab234ce5bafc8b952c889ac5
+size 743253
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a79fd9caf4c69d6649f75b81e193c77bf8ee178
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a1462a1dd1aa4afde5fbde037e4bfa7f784be89a322716b0cb374263f0b780
+size 127567
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a9eac613dbc1d48902ab842e5ccbb10c69901be
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4619e07377ca3560f0060aa15051a8342281184b7ad89d8a041b113800e695de
+size 129527
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c6df47a80533545ced0480a4de7af1af2a94cbc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc9b37e5fcffd0d7cf24ae17b80d0d0c6c59b34e46211ea7319e6d67b49df95
+size 137912
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21db23b382cb973ac1a9f64f0dd71bda63cfa90f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf38f69317462899b17b145417013a2e0580455bdd5e5f77dbea31c82013aa0
+size 152751
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52e213a95adc08d1d7c772b8d218d764cd21dc1e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4b616fe253e06d595d463f421094e6a1557e92644d1d37f50a9c4f7448d8c6
+size 404822
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6877e9d915b17481452651f3447be9394bbf358
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7844adce37808ade1750d4965cb7fc8aa1e5fb6ea5d5f46bcffdb607be48ec
+size 450068
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3537acc7f15ac61c3a5acf2435d07a47c5eb04f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6547a98822b61625eb589ed2a531bec45742cb235ace5ca9d690cb9fcd7493
+size 423734
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bc208eb9fc1b635cf7dc6d8a180dfa72744a0c6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db1bf1e374b045544065469db11df12df0259fae3e1a79170d93933bf5b68e2
+size 517561
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..489b5f0bf5b8eae6d3c6d9b8a22023827cb79418
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6615eea8dee3e8472bb64b7493c5f5a17aada87a7a9b8c87c62958e0dfe0cf0
+size 907376
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63c652d0314fe0e37a74b0d425f367b4114df9e6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fcf2dca5b1b453b11738da91cb782c006eaa6d98bcdaae6e998546fdfc71ef3
+size 568045
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26c4420676d4ccbf952b88366bf455c998a2f813
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2b8ece77a8901e2a45113557387a17c6e7446f2936d1abae25df113df2b9129
+size 804202
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..008dce8010cefd28a2e742374f7dc5547644e797
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e811968109d2adc5919ac82d7431eac058a90fd5876e1cba17c3e476fc3933
+size 857951
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d372dae50f743443036cd8c6ccfc61fdd17a172
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d56b666c9c728b3b10677b0371830f3847e507a541ee2d6b68b73bd6763c251
+size 785421
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1a129ec4a4161fdbf2b02be65d6875892a9db97
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d513dbeaed2b75ba097eaa7d05b31a235dc200452e79289082612ed782d9702
+size 471407
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69f5479bd7af949b7de4da99225c5903b730d3a2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdeb7ebb8d539d71587f0e9d84f1c6691f2c3552f0f5cf24f0cb6cf11b42769d
+size 639121
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcd32e6fd2cc4119612f4bbf172be21798995901
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0aa03bef2679b828febccdfc10dc970683023b4324bc0d7e88962a93fd36185
+size 752613
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1ed149b903aa6f70d66255ad3ddc55c97bf721c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7fad54aa2c213386e6eb6efff67e0a195bb047c03320c131249e6c1e7231fc0
+size 571680
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2294bbfd5c4757e7377fa8d4b55314fe65c2f72e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1cf524da5b93fa4ef5cd09ee91f57c255f309489184409340f0649f74363c5c
+size 503631
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ec8334d6b8edd68559ed609c911b826f93438c7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cd2bb3259871b4e3ca2674c6c3da877005411bdd3fa54fcc927ba2a1673060
+size 690176
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f76980eca97245847d8e20fdfb13f0646496184
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae903e6152869f423b950ab3d698f107a68c660fec906203e6d4258ebf033e89
+size 575263
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e270df8040265472a55c6e2410e71f0d03a8442
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb2a80281d2a168a600fcccf67df58d16069e1399a8aa393f6998b3b4e4e96c
+size 713330
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da74a9f06c391b01ed9afee758385177c391f35b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e026e49e1f089baa55e2f690a2f67e8221c584e35378c2676dd7966a49c4a2
+size 617643
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1cdcdd38f22eccebf70f93e9650cdad5f0aaf937
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07bc1a5b5b64d33ba040b87c61d9dbff13c739cbaf50218e176de81606f5b01
+size 661257
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14cf878648b7d359ea2441a999630e7ddb1a5fc8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d258054d65b0fd408f3882e9d47f4a7e4ec399e4dc5d95abd44c6f0d45dad8c
+size 611240
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..971ba8f30612970bcb3dbd00e928890eea8b394a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b100441adcd02d127c2d1ed995ae9ec57aba90e806c1f37f7abdcfddeb0ee86
+size 137526
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bffe450697148c820b580a3e964f49710dd26341
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02308c49dfe8e1f7dd83adc4caab6f8a230527dee1510c77060323f727f9f4f
+size 117537
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8502346341ad1118cf16d1f2e36ca550e96a7381
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0072fd5519225768036744a3c359328ea2f675bde20d507318c0e92d36e314ae
+size 148739
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17e40a96c30a88110c9dfb30df626857215784fd
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2198ad4c87fd8b87d6845114c043eb67d88980335aced001f5bb787ad97660b1
+size 113487
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50bb525a095714afc548dc67b95bef01fca65f1d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01a141433db5a822e084988b7b417809acbf48f12bf5ba306a2838f2d6271c5
+size 460194
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7699b1e0fb21565b931ec645c54f00ad721ce9a1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fa892cd9f8735b7bc21ca1334622fcf93768a885b912cd5b29ee5a36314a945
+size 431030
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..deaaa79f5c871c49d1767a1e2de5818eb2373553
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca04429b48f59e4dc019f984d0259afdc03de7e96b9886ed040a496eea7a6606
+size 391275
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..030c88ce57e17e7b969e61aa537a89ee70e2e77b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51007c5f866483dc84e814f52b0c022df07a3f164c4d50babc1b64bf3298ddbf
+size 414344
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55fe69e1ca3a646e74e4586e2cd3e4717c3ed506
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b94b0dbb471f2dbe45e228c6b2cb9d15648a85911068154c57cb64309f41c3
+size 877733
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fea0fe23cb83debf685ad94be7b5e2a7e1eed86
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b211d02f7fba9b8e98b6e69741ff2c338316b0ac377223f0014a4764eb7bdde
+size 842002
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f9a322f5b40d36981d24d8bb0d2155406122f0a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80de694386868a5be5d8a16b80dcd54769815da6e290e474dccd0621e5caaab
+size 654090
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..517cb9ac2748d4cfb59d6103ade97a7062136417
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c09b4246e21f8502d4a0ce75c8bdebe1bfe0ca9219aceef6bd3d97a20d3b8aa
+size 636041
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10b79261c19d1caa5a665f6cc3bfb950fbc5ea6a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14cda5dfbd6c7af1ecee19c552e73818ab305754138dac8d4dddcd5d3d8308e1
+size 727707
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02ee0eab4b18e19faf465080eb9659ca9ebfb71a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2cbc8920842f4d980a5e874fb965da8cd51dc21ac5aa140231414d68ad0b6ac
+size 717182
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..065d5dba32f6bfff6328798b189d671a73a72fc8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6051bfcdc16428b97d7b416c6fb2b0b4418aa24f30cec79f4a0c9f85dd7499
+size 550074
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a819bbb81599a9665dbb0e56631a82ce5a2c469b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0872f9d5e21863f6e53ebd6c0ac7fc43406eb82b8f475b1aac354edfee860912
+size 512679
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db47e99592bf139abc19e96188207c44278ab4f1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e418f9f50f856067a2681fa5b044703a4ee9aab5f32224d48fbb69de98dfbf7
+size 538988
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d57c522d741ad1d02fed626ff6a585aef23d62d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5400e37494a3cdcc3b4b4578bbe4244f36d34c43a7b178da7d077f13028a4011
+size 885528
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..317f6214bb0d09428a6ab5f794fae85dea166e51
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be07f66f70629221ac8d5c7e574c5530c4453edf1eb7225dfc2e5592034b2b9
+size 640137
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d402436428bd16020efa689d2345a448986761ab
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f038b9ff46d882e0f9e8b035456c0c3313e35771f68103cbede22336033c6f1
+size 621531
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b20e54c0e1fe4af24ed8cef1c9f551ad8da95b59
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6033ecc7f41a8b64289f335316507a22c6f8213f34a35c1251b71caba27b3372
+size 573662
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08d325d3e6526d6fa46aba4902e6bc5303eb6a86
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8456123e9fc52a775f8a04c3b5845a74c525ed21df7486e19a6cc6e5d78066ac
+size 706231
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..485c24967c45b225cc929c2091f6cec518c5b7d9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d9f70f3cfaa3538f0d9806f6c60638ddbec6650647e636fd545c2896b7f233
+size 657249
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3960dd0fc98fde7759a68ff566672f76db4a7b51
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b688394b15ebff4e0e49365834957ba939ec2059ca532ba6db3dc8457779a0
+size 652054
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd7a9d0e0ab50901d9580e668b84c0fc1ea912bf
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50b9d4c227b2fc02e8f339db1c368165f77bd6b045752c84147c2abe10dee23
+size 109460
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ffc93b683ab6d7db62286409f4bd7a8477b1440
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50afc5b26afadf99038232fa99860e63a52f7efb60bb4e74d322268f39580ac7
+size 121422
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7730cad8d1ca590f25f59b8efe29cc008c1563c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92567a1c2dd7a9fd6c33a34b20780468b49d02db1d1c0596f514051b4eb7814d
+size 144757
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11d55272be2aa90e355a1030994eedfd94fd8a65
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba59824def329b45d2ffe3cd6998cab5cbefc585aafee332728615d08f292d0
+size 135853
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2dc49459f3aa6b1312e2188b05d8385627c1071
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a36e97d35365d2e65b79f383c343bc73f0458ab93ac028d3d590a061bff32f
+size 367005
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9264eedb953633f3191ba6a331e97ac73a1cdc83
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9ae0a50ab70c9172789c6b90f89f1532dd9e660c54e1e977d050fdd62065df8
+size 479305
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b02e1a1d56a89f8d28ddea3c89efe372f49fe26
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e03bf2a9957fc041c9faab2b6591cd55ccb952c9ff3659825120fce190c539b3
+size 459534
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92df90ae1d776fe3e45f5e68d3b3215264ca0a91
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ad54ee2e9b7b6bef6d1d9e81426ef829d45b0ce9e96ce338fe4ad1058b68ec
+size 365497
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1544ecd0c84ab64350bb4a36edcbbd50ef5916c1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22ec7ccc15bbf301d3854bb88e725663e6fbd3d23c83b8406566675f2a282e8
+size 681053
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3ae96e2a44b90f418422c19bb388ec585611363
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd90d13a0f558efbf94c55c60b111b8add770545f4a17f78ff4e0568ef39f68
+size 782680
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98ee51212556c29281647f0efb2ba8ea1d622475
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69f9a15773123af6c6df0f2aa4856ad9f6c46a65eb0e0f9094ba07b494c47bf
+size 861724
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8950bc3498eb8db9844e49ec58b4e44ba2803049
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:090cc828b705d0e6c40cc29a53436b48a26ff3f0c6e2238f2c07d76c7c76d817
+size 584818
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4412ea553a30b5753adca2236f4106bff85f74c1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:822a9c3868b180a54d6078a76f6f9c9cce4565cd296b031e7763eef60d78f6f2
+size 561829
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22e78e6c16a365ed8d1b8e9574e19c3594bf8158
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ea76388546869d3dd8f237637b97702a63722121b5e3f358ec04664345e9ba
+size 649706
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6dd5c0d514d858548021a173a3b0884f387e917b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f1cabca2a47526bc66c73dcc9acd949c6c55d52482a491e69d6e7f6bc8d20b
+size 747930
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60fd9729922fa6abd8330bd017b65063807fc041
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:086da609c8bbb5deef0cb243c3cedd30920be1476f41b4e78fb9404fa8af9314
+size 468029
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..211c94c929a97d0147e01d48835bf3f5fef1c87c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2fbfd52dcfe11fac43e6ea058789deae2bb4224db85d843da829bf40de71f5a
+size 699035
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..747c0153998d67f9bbe6bc8700fd14c9e5dfb6b3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3a9c69da4fd8e61ae606a01635acb8ffe6f770dd0b732c831e55715c4f91c9
+size 531871
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aea5df92bafa6449c94e9b2ecbdd97d7c987bea4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1f49d340ee482905dccb66928bfc8fb78e76a8140c5ebb621fe861fe2c1148
+size 634819
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3adfcc1d7d772d5a015b854b0a3867b88c0e74ca
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c1e581c54221d308179e34aad2b4b3b927dfbaca58580e43225feb35c39ba4
+size 567205
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4938b268528e113dfe947f4fe8702652ee74e78
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:573a87f4e1511b273ffab0ce84b5b0acf07147727cf26c724c92b2d28799a8d2
+size 681033
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eff1cd04ae9c746099fb9d053cc11f3d769ef21e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a55c83a4ff356def70d3abdcf66d52898f3a72cc06de1dbb1a4d32ecf2fba0
+size 634910
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69d69bf48710073ef3562f45efc04e34c3002f91
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:162608c5b9397b5db3cf9d1826d707a8584301b4e09ab8b105b0f9b5f34bd8dd
+size 779869
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20e4d55bf752370e0fcd307dc65dedf76046915f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3bae1659e3390a3f765bb7d91bb8db3236d3b52fa1c230c3004942b4b24879
+size 657447
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fed6d33531338a61368d0de24854ff0b21e6fbc8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f640fb4062ba5d5f923ca3860b5f7f98c3f6f093fc5f3cd953b4ffcf95bf3327
+size 130826
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c14bfcd0bea229b407e440b957b2e8587171ff7f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c1e1e30d31dc99b97922a5212abeedc218292bf5d9e03e34d34f8d7866ed64
+size 123246
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7251ee3b17a218e84371559fe2eb61f7af1fe277
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74fe3d878ecad765252829c354f9fccb62888681f937cbf5bf3c089ed3b7548c
+size 184148
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2cd131376b512f917dd44d33c38718d1e295e42
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f194eb25be75c7cf4cff4667c6a29e25e079598a0012f7697b6467330d0bf199
+size 149196
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21ebae8635d636465933bc7a8bfad738e2a6073b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d85881bfbaf5da95e5e42ffbaaafad82085d262239b73cea73ae01041c4c1e
+size 370504
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b606caf9faefa1a7c8539b46590954213ac8db8d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a6d2787b53b25b562c8b99882034208e9d4f2fe84ea792dff3b26bebd2c0b1a
+size 442679
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89d7347a7044a6a37d4c8db73267ea0216ffefac
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fea6a2202dfd4b14c11f74eae1d593c88366029d809ee3891f0e5b14e2578f9
+size 452757
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..815c362ad7a780a6aa8f74f024f88f15fa3061d4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379c0d3aaafdf71306a314c0f67485cd15a9aaf1ba63dc16396a601dd54f0868
+size 450357
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c47128f71baa112a36e1015a99dd0e68d605c17
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93430cf094d4d7dcbbffef49ec0e1157251e099a60488f42a4c535d04b9393cd
+size 690043
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44e710bb8afbeefa2481ce9131f157740084eed0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346f18d37eca026d84effb3d8abb4799b388c85cccc8846db0a579669f95af3b
+size 606107
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07a30cae8aa7683e9b1a7362691f7190871e8f86
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5840e6f2a7c0c6b2dbfc88983c83563820d281d5b7268b4cd00f9595bc4cbd4
+size 912119
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03014a0ede9b4ff9c4158afc247affeb12679016
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d084993ca913ee30d31808c4655c29d5dcbae0998e517ccc30d229e7d0f1627
+size 802179
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aba54fefcd61dd72c9d919a6f2454eb4453c9d1a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07cf1833b8d280081438563a7e6f12609fd51be71f224d4db6c6181c4d572ad5
+size 587416
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60a5825f92844b08b888d1651dc1206e38a97c00
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d9cb713422eb2a8458ab816367993749345d407a686357b433320f852691ea
+size 481634
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36261cc58876e19afbf096c7ecde92ee5d49f8a9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47cebc9186913cd0e14d45a51d284c7bc55df998e5a31f42b1ce90eb1109a83
+size 793195
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7390e57e22890cf43ecaf79c1c98755758a72576
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d99b03f50658a0901fedfcd88aa6f554439f9526e1543c58c1f386670ea51d
+size 732905
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..507bff0761909aba09789a4cbaebe0301dd5dbdb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7da9fca5b3fbb41a1d0e6335e15eb2721b00b285a1ea14875a577b814199a98
+size 562887
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e918191285a4780e9954b9dd06a1f75141b02c6d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59bd0345228c43d246815b64b9dd3b37bfd87eaf4a905b1dcbb6bbbdb3e6b7a2
+size 767020
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc5d940e81ff65c827838f0cfc8448ca1031f9d2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c909a4b01480236533bdf74cf5b73379c6050485449fe5d95cc1958df24f4f07
+size 755380
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74116f7e8d511d81668b69a8ee243424979c1a81
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa819dba65cf9a03f9a69389e9ae3a2757b3918887e8c35d650d59392c5d8a4
+size 815474
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5d7f602dd5bff258537ad2cfb375f6d9dd616f4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0869fda3bafe22ab1b71a4b94499e5808db41bf83f90dc0e6b6db4ce9015c9
+size 649783
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d16406cc11fec25ec2c6c443273d1d45cbd62ce
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a521ec8808187d889d552e8f02e241f04866888bb2a5927f4309d36e2b44fa6
+size 640194
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..491bc852d3bed2e42779968ad28a83485162027e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b404c031ab4c3580d9d1554a7921cc5d771ba812f3eff5cb3a7c36877055bac4
+size 590054
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a753acdcf2fd0fa7ce377dab752965b6dcf3703c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60f147a4968c625e0fe67aac6cde1f9294fe65bc31bbd10ac1a48aa387794d0
+size 706946
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..149320818b48218a353f643aa485e1985a466709
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e85f4b1cc938c99162292256017dcd8d79a3ba113849bf7b66ff5fcecd76f2
+size 121698
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f1eff7ddac2c044c9883dd3ba882728bea2052b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75dfd555472f87af5426295dff076d3dd61dba81eca493970b3892e55ac9674
+size 106627
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb168a07d845ae343055cab333fa1d052535de81
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5064c5ea63dcbe6ef178b5c0c12f75b7789c0bf2e37b6f3651c33d1cb97d2d0e
+size 102611
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..321f0c6959681571f7d90d90d88111f7f44b69f0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdea8b935fe650d167f47b92428e9f656ec89c3fc25d8e462702dfbdb530b90
+size 109681
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e66f29d300fbe0d28c3afe9841721cd0b99d69f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9ec5c9715f41a5729beb73a4e96d47b44520b7cf5c3e82ac2d1513466e2089
+size 379637
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7869e66c33dd12b315c75b7291f5b3fec4386052
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da7c6c0c9ad113f191503543d5881dc3dbb914b6f8e10ef50103a23cb10fe65
+size 276098
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27f8b8e127da915f678c709f23b390c90641096b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e9f251546aa3f0e83a4ee053504687f724e35539194f64911bb1e63b686c68
+size 366325
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95b84103a0ddfd9fc0a73ea4ff15dfb72a204c4f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1af23ebbebe23c8caa82949e43b5da552497c85e8954ab534318b757e6be8aa
+size 473318
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bba12d52eb39395304f04d5ac58026715e5e88ed
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bcbf7819abcbd674e017590c01a40a6f2182e56685fa49c246466d96a48ff57
+size 831740
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2035a6b6fa02d889951153fd566a2b0b2af0a9a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514b0f381082c3bd68ee4466b5d06be732edb1791f489f1e372fbf1e97245ac0
+size 862065
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8db7342cba7e43e8f4301dc3ac5114f7f3b2c371
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0a6b1ee5b120a569d7d8efbe93a8747c9fa3f00bd01de93cc660c53ba39764
+size 631530
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8da24ac437ff47983019cdff5a41d6132c01089b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c3afcd0a742d75354991b8d4be70a4abe4c354e55d7366ad94cbef1a05e51a5
+size 529122
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe5549bb505f73a6a844b454b3d3b2e99a1523e7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b3362e173c9e1d1a51f22b8760dc806199b853b886eb4c03d49c51eab9df080
+size 715704
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a33f672839c310115a89b6ad22020056dc815beb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:443058fdcf2b9b46f6496883eb69fef5eec60929d1ad1a3bf8c84c86a3a9a804
+size 790550
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f09c270137a505199b77d745e33c4bacce3537f0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a4bb008f8c303455bae04a8dd337afb0ad765d906fc85c988c078925fa7ab6
+size 507759
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0213e9f5ece964b0fd1570b84e1326547a0c0c51
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba24444bde48100f1149ca848209e6df2a1f33366101953323bc9f909c49203e
+size 396893
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96f4e97eef09426b98d988784623f117b4e0fc5f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f337a65fe80fd3772f265234be58a3c6bdbe65e0b5b1a817dde1e47897ff02f
+size 1001470
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e57ff9c9e3896aac1cdf9c8e61fdac36c39e95a7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b8150bb0d3c8c2ce256b6bba197b3e64268c464c8435b12d15c2be572dbac8
+size 594259
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..551cf5e45a44b41d609d6af2a30cd887839b725c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0e6c3833e6eae36e6c6fb10133f21f9bb77b0a46c1eb90764e345ef2979502
+size 677525
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5666df844922b14fa6222093df329e369216ff77
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f06c2d4fd95748f8987f2202c447fe9a00fdf26c78676e391c322bd215774b
+size 482222
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba64b1ec680d24652a28d7dc0a838826e572d37e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8bac638182449f57c358208875d5aab548ed94c0849081f7cf82db9f3c976e
+size 604803
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b438a6c090f7e6d479a870b0a73b84f06651b1c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e08bc58ee5e8542dd705d71d9235ea0e21956018285ca0b09504dbacac1cf1
+size 624564
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..951366cda542de18080e9a82b578e59d52902d0f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db83009aecad163474ef7ed721bef25490f185506ef337544a01c4c47d2f1c86
+size 676014
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ea07aabac7230819abe4713b17e90fb6afc15ce
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ba0482cb166d8839b7215d6513d43f4fcd9266ebd4a492b14a7e708fc09f58
+size 624922
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fc087bfc75f29176e4ba8ab271df4b4836e650a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06b5e88d9d892f7ce2690d67123343c757a6dfa97acd1f447eaef875ae5856ed
+size 121170
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e077185e2034b23df3bf3b95573ffe546fcc7b9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f02d592e024f979f0e7af2305037b1bc1787026454cf1ed63749c42e42fe3ac
+size 104732
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da3d7cb912fa74dbbe64b779d1ffad9c8ea8b441
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:679dd8e270dffa66f9cef458eac04593968e0edfd1e2fb0b0f4eea1bec44ed18
+size 152948
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f85537025653fce6867853c777af9a1be0f9bcc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1a3eeab09ae85cf000129ce357038f446106ab1ee4709e82c57eef3e19f8cb
+size 116542
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c16fbcec83c02cec7253c4598379121630303ef
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71712f2b30908bee1cd9b0e72ebc20e393add7a26582c259fb7a7dd507d54815
+size 323894
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d913f488c62eb2d67bd9f0f0ec137efb2481019
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15329c93d5183bfbc7105aeacd5513f14ccaa0da4c95a0fc5e59a8a5f084726
+size 441006
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1af57de1d5a7da81395d72d1f3f8d2f665cfb0eb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2dc7c195d0b7a02068d00513ba8a0815bfe01b66ec4ca1716b8528f171dc6d8
+size 459532
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7ec01dd66dd0f0db167835f2cd50cfc9e4070ac
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e5e831cfc9c96262ce15559115ae5cc3e8a5edaf246adf27dcf2be027d3788
+size 376358
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac8754fd8ebb6176d8dac8d570d45f022be64043
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63de9d5103bd11c4e83cf6e2867f4c345141189d1724ce72c63b9c76fe5d48ec
+size 603323
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc5c1c2a422bb1721fdb4291e5ff34924b2c5ad6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9cfaa0565ffff4a1392825e47f148611b9ad762327feb04cfc205425197d92f
+size 882548
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e253956c2d8b10d8cc5f629bf867bc2a44ee248
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba1222cc1ba0c861d11732edad65209f5012f8690dc233c59260d2933f235083
+size 702656
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97a04da889eb6d3d87d43293317e02f83724362b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caeb22618a4d284cb0898ebc2ad8857e9b9c3957fe957663b873d1bb3ac43c4e
+size 822674
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da04d3eafe59500be29e949d5e073f15936a3a11
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81bdb63d0ee4cad56b9c301a8be343fe6777ea9837beff811e16105a1891349a
+size 503097
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32368baa73742d053b6de1c27268c53e0788e064
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:117cb2c0e1c381628df3c091651e9ea93fc6c4b7a75427773bff50b806ebd24b
+size 718526
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7db54fe256ec7cd844e647f1bff38bf89cadff8b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3eb01a7661cf329a291d8f6aee6053347b35f01141b8d1b9e2a832e86c1fb1
+size 597926
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98957662455509840875a8734dd86caf4a54b906
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d9df8de46e31e7ac909384d586b0c6aa86174a9337e88ea1c37fabc5fedee38
+size 675565
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b23f87b9773afd0e11ea3abe1ab95a7d9a1d222
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc42d5635b5e8a98f9e72515dc250813fb7785417bf12abcdac655cfc6511f36
+size 609129
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55d7fc2c39748b0d5cf3ededa2b7026b8332e773
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a06345dfba14a0dcfd8e37da90ea5037b75f5c1cda9e4c343dc744fe44baf3
+size 604185
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f0058410be26361e81435ce5ab85b5c18e7a556
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ddaed02324bef79338fd4a4b78f18925f6eda1c506b22b6a5df96ff34a5fc0a
+size 677591
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1dd6351258202c0192ce2c976d35dfa8dccc84a0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d876f55f390221606216a8d3fd45c2e4b459b173c1d693f03819c115c70625e1
+size 694647
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcfed6f9d126ef3315d348872617fca0de617742
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4009434971692b7bc41412b43b004d7a7c60e72b66d585e146ca9b3496c5679
+size 648616
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..266a53b7c37851401a6107e5bbd648158d9af4f9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193479e14063a6bae79c86eca7fba56c47d2d05fec3e936180101f3792c8bea4
+size 630967
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c527aee935499f22ed9bece3888eff223e5b01f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c6255044c984d8d9df74b9a0f4e63f5f6bc76648e61bf14eda09e3c22316554
+size 677773
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1efcae33b18c3d137b1a2b759688d31bbc26af8c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c492a28a491eb143f5bc9eab92a7d0ddf151d06f1464521b8b3d03d31f5e75a0
+size 643862
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..806c5289bc580d8338258737ab997a0853306ee2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5004ae7f1465fb2344689123c8f71e6d61064ec77ea28e71ab8de0427e32f945
+size 118620
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef1bba45f2ee8a50b1ef3fac5e1a07aa28d77766
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e11b8266fd61715b7ac7abac549af1ae389b99e50720ceb3343bbd75f96f74d
+size 123290
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bcdca3088ef1e808b8f723be976bb9de82905f6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f9f3547d77c7a2a306b9bd915c33528a2cb52f4d2aa3d9a0820b8968746bcf
+size 133187
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad1b5e9014aaedb973cac9a29dfe1033f6b6aceb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37a0fe45a3072ee6b3364c4979844548b31feeaa5bab9b9264fde472786023a5
+size 138345
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18aee16d668d80ca49e17f245e21940965da399a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4025bb2624812f3326f5bfcc3a73847f0d1d648a9b021cac727a31974d93551a
+size 379189
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fc3131178c7a439b91510a1f48ffcaecc2efb0c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cf94ca10edbdb137f4b16d468fe09b24c3be4de37f7f4c24e724cd40d58473
+size 397981
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3164b73d95554bae27d19e42e6530f97c4c5c6b5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc1bf311d78e2ca24111d6a03ce7d857552f147ab497985c663eac073a56149
+size 365735
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c7ddbe1c16f18047e1f8da647ef66490b8d472b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432a4ec7e1a8fb2c922ef8da815a072728ef95cf7f61878f8d7655c15170ad8d
+size 400452
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5394173ef20c5fe3042a0717560a6f6b2c3a5be3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5c02583311602ef01b56afd73b6c6647a8aa0ec17f8790b08fe1b7bf81ddb41
+size 793296
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..026d9c3661cb76fabbe8a1a3cc2dab2cea5e2237
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a445bf61b018700770f8cd0b4aabc3f564541efd3ef5e5de44843979c545d3d5
+size 881420
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30000e7940a494d017f1d8b748e191885501e8ae
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ade358600208fbe959f8309c3cc6643b921fe4233f9daed3d41d7e56cf2015b
+size 663372
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f567de93b7c5c735edb69fcc32253023f51dde9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153956fd4d98e376dd014da531d7317b2ad199929cec7cf84c4efd337c223992
+size 925128
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b545a047ee091c5465638237d4a42b7c8c58f705
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0448bc477c79679583736c4d5685c10e8d5d2d00e1aca2091e19442931cd7974
+size 684688
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a748bc91e7b42ecb7d17d148ce7e9113035bc06
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4660504e81da8c18f7cf2e3adb64473f574501a17b2f7c00a893ec7ba9c3af6
+size 756907
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..caf1ab7facd22bb281dd5bad9e636fb368579a52
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e12bfe03051a7821bb95198824a33d2b17090a00d82fc08454da3adc23bb0257
+size 538582
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93a00bee4cce8b47d69e421c7d7fff550eb945b4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eaf90e0c6f093bc7ad1da71cd1171b9ddf20e16b1be9a1d8233df294fb964f3
+size 813980
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e53d8f6e4f90f84eea763129a76ed490a7a9058f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ea896ec96951a3396506ba08751f135b9433a3e9ed943116cb3b5627e1fe8c
+size 733520
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c78ff93ee96eb8d6a0ed08bb432f2cb9dc93c6bb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116f936627f2c760555cc41c1638d6427130b7d726869a69cf26acb596408a5b
+size 725070
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5543eb19ce763b86e2b641592bbb5167dadd0150
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98dd20d145f08e64b7844daacce62ccc9782f5880923ccc8882d73c3087deb5c
+size 582424
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d584185c3ce61144c67f6cbb1cfaf9588c4a8ba1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c19b31c31e11f369e0d365d98863138b70cc744d1c1af3889c0bada75ee47f
+size 625002
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5960627fdc05e49613f5f57b99fcf2152a11b24f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e836c549100b967d4457443ced19813092c3d5e5203ce39faebba77a23a5add6
+size 642331
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a03b84893d1b834c53334fbe1b4e6da7354bd2f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce5a6533c49c426e83695d15992aa262a3a025abfcc53f5903db51f0d0bb23c
+size 598230
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..237a7f86adefa227d91654927d4f19deffacf0bd
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f1a4201b42ca5118dcf2ceecee218d79f7a38056c25698a5607a24fbf7aee9
+size 622888
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6ebe9e45851e5dd10d60e012234a6686798ae62
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a64b605deab11b74e3cfbbe4a5edf28e890a986c8e67439f10f4fe48850de835
+size 636188
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e624b084eb2008e0c77ab72f14810ad7cb1ce371
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de854f58404ebee348c57607f0789dbc622c5c1bed6a0400320791d2e01aa6bd
+size 126567
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cf56eaf559e864fc4d4833d5c9c2d4824ed8c06
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e914b8be4006a052e30c56462f5fc93b805f53101935190fa579b3c644ceb9
+size 126001
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..153999e435f483ecffcdf6ec8dab7ed02c289f87
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de31d043ae82fd30bf07283a0757eddfa8e01fa11445e29ee1277ab0c30733b
+size 118999
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc3e5748ec0efd4cbaebb8d6d3ad0fcd5e99ce87
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:422c0e6dd55eddaa85fdcaa3d5845869e76cce7bcb8031d0206104839cff41f6
+size 137877
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f170676d5c3d49d945ea29772fc02fee4e9060bf
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64fbc285d68df0d78509e5c706dff3d06da6f00f46f175947a69e0e73485eddd
+size 356511
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c06c3332faba309daaa6ba7f1bcc2e340ccda5e5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e40a838895550012cafff277298757f39895d85f3c4081edd356fe71d5dac9
+size 396372
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10bf15e4128aa3e3777a4775d676901d889e9532
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f64ad4683068e25a6304972c2319b41ed5d054122f4a5841dc61f2960dd6c48
+size 403342
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba68c59e5754154fa8ee8e5cd81b0b4eae03fbf6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d24932a7d1c318c69483936243616b9a07a94b5d7c336642c731afb2b4f65a
+size 377616
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5be7fa391f5a3eed8e4b53169de2eae7090fa1d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4dcad34d37d9fa21a55fd7d21e822afb8d721980bb3cf5354abc98fd641d0b6
+size 620366
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..738d8255717059f693b698f04dd82c7a70652ddc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42523a24bab086913d77a0829a573293f47c3007d7a645318765992c99a2ea2
+size 874374
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c528b0affca251e145e48792c38e321617d0e849
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf6de3e02b03faea1f26a6f1f94f819ffab4a681b627a170ee46ea07443c73e
+size 835993
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a409545846ce537b4483e9c73c40e9ffb46717f4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48fa5a37631abe410673663b7e54ee37b0abb8af47e2fc6f5285be7073c7c6f
+size 492638
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb2e53b9d5d106647b5937e653e5643264fcee1e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b6ac9360910b978b5672eab89bc27e9ef236d60d8bf2757b7900b7e57122bf
+size 767743
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0401ab3725c37b3d7b34f909a066cbe9de32a4da
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07425e4ffc2b2b81bbe80fa1bb62f49c97e71c4252b2da0579df24cc96189ab
+size 718810
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fbcd3af33fff931dbeda831c480a38ffc2220c4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02be8f2c66229be9fefacffd4c6dce8dfaef196818f637c9773aeeb63a40bc3
+size 782919
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab0df943f4aa8be3cf4560d715b8de2342d72e15
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3c9ecabb6f78be569657156e9c2543bae552e8d2b2b306a8c5f69bf41e98cd
+size 771933
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2eb0a8de415d7dc4cb670a92487c5832393a6089
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e849d723864efe224e494060f9788aa45483fdda02b5f179503c9e607b7f7654
+size 874001
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1482f309b2d9d4f84aa2019ea1965dd1a0e2495
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0a6fbf6f14611c8d003c2c06fc5993915e182001e6a90aa26901451eb1aadb
+size 806804
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3396085edabba021a63a7d40a096761e00b3d65e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abef3eac389553b9fbf1ba9b3b5b14e629c9859d7414fbae52b0cf4a93b7cea0
+size 668700
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb141d224993d6d10021506299a005d8b07547
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a648c0a48670aa77d3e0ae0b9126dd410115f4fa8d7736e3fd9328f896f48bd
+size 794583
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7d2b45ac342cb0f735ace2d9f278d3db392860c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df46282a57701104b3487d67e1981fa3d6983c19f1e7e79b2d7236cc40573193
+size 159212
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1faf7edd634bd40fa2bfa56e06523b2eddc59c02
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9447fb81706cf1e60cf6042c3c88755fedca73ecb27a0e491cfae73c2eb9192
+size 128181
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b93eda49d0c5c4b62f98afe3770d67e8303d5441
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1257409967850b120dc23c4791c136a952394917c60417906018a062fe7bf16a
+size 133087
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fcb322de5e09f69f6a34c8af226ebc0b9e2e5ea
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b049476700a437eda5152c3f2048705fd897121536dfbfa4b3c5ca346c978012
+size 309190
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf62f4001f6c2f1bff6b8f001961cdb9c5c85aef
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfcc32e80988a9ae03775aba7706266a5bdd5ba87a68bad00670c7c2cabd36e1
+size 430630
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab5bd2ef90d59bcd0988786eae88551b1d552764
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d32382c69a4ed7996a2668af4e0bffdcd4938b0f99082d91c5cb34175565e1
+size 554143
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d5374cb5ceb3876b51aca0c79392f9da8af3457
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb08814f8ae20ab4680353e13b927027a73d5bc8cc5d16ba6ed358ba63422793
+size 617258
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39943fa1835bb864e3a21f46499a2640a65a469d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0671ba372083a819e5b5b6fc0a892e90a8c765c33167116622d96be94d97fd
+size 454314
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..374064a71cc0dbe71f43fc9458fe10d5a9d10e05
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ad04c524713f8ba2abb3c4e84dca2ab5582e712281827a749c990180153bc3
+size 491378
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73c0cdf37001833faa8586cef32d1804b1892712
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c153fa3d20adb41f133b33bde353d6d722b2c7e79c9a3fd96e8fbfba4fe88aa
+size 364494
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49ac0efaadda63313e61a05acb3eb537071e8fa0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d6069335f71923176babb77f7da6c127757fd25089448f5a643d19df373de2
+size 856615
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fc1d55d0ae3cf825ff7bbcd36748f115efd85f5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d2a92dd9836f5fd75aed4fa536262ea36a926b8ce90bb884d8451852bdff8f5
+size 504465
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..360a2104bb312337b56fb122e525e52e50668bf8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d33b76a2e80a7722bd5a4bc79f58748d9a4ebdd4dfb57afec39972532370636
+size 727698
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9032e9ad86f1b2ca4c6616fb74dc1e812fe48cc
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293147e9c8a1ab98202559cd7c28279fcec848503c56d18b831dee2fb639cf90
+size 570320
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4a85fc2ec6f6809fa3b2ca5cc3ab03030ed4341
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff754428172668c9d5eee3d07f0a3eb2455834c39304e13a27ae6c89b0f9a7e5
+size 146889
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c435f3ad9ada564477aa0aff86e9ea0b3c9848cf
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9197e95168d416f5ed4d3fd6a57fc74fa114519932d2bc8208d15b4afa277967
+size 109460
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8336ecc4fc3d3eca9bb7a9415c46ef8187526f3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697301b36a7db38cb43c64a57c65c7a057ab939ec75029090689f1d9a8b673a5
+size 430469
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..210f55e1f8ed494df1873f3ed1b7d11723bda95c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:582b33da3510667a0975dbe9145eaabe96a93c4a4ea32d690b28cd6f567dc0fd
+size 366430
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..947f945b70a6d78f3dc446e2f57fb29a1630630e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd14fb3784f25dfc1ba56bf01a8778241b4efd779ae47e61f012b22d91be8cb5
+size 673961
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e32694687c1a1a1919aaa32980c159b8979da44b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d286e199602525491a083019ba2d86308f31addd6843e66a4f9096812faabb4
+size 527348
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c90c5c75ffb550a5f4a8469ea63d2ae130afc970
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f980dc5f11401f1dc58184dc5b8a6760a8a3f77dc21cb5743d5c22c3c04b987
+size 586696
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc1f36bdbe177823773ec276eb64eb76a868316b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3849ab215a435a233ed75e9e73080962085a5f30bc3360ec2aa27a06e7cf0d4f
+size 549188
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7351e4af54c555856d12cfe8256b56126c4558c3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7893524172beaa25956bad9bc3c535326c4e4f462364ff76f279aa6e049fc3f
+size 95473
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da020a549346f2c19b8c34e0926b4e26470afb50
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363aebbd2ab41d36ce59c8a4056bbacb329984e528108b8384f79e936dd1acf4
+size 320435
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68cbb74b064e0a7542c3c4a5d467d8e2f71cb53c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067103083f773296ae11b31cc4b24c0d4ff3f31dd891ff9b1a8c22947e906f34
+size 859493
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b45ffd631331a2e5b59b5b6716dfea85bb8fe31
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f33efff743b5a248a3cddaecc1ff26b53623e6a3eb4926e68ee4cf9f6a1e63
+size 734141
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ea1faf7063f79da04e52543bc48280194944a8a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad4606cb9a117164dced8031283a0ff56881390610e53984d7fb34ba31c5607
+size 710016
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..338428db2ca33dd89910109e0272b475a5210e15
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67a76e65595c717ae5a414091a2a5293a568975252625137f0f2dff01654eb00
+size 627904
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a664e154e550ab970d631d4e96c2a6febf911408
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92416dfa97c4d4ab7ad964d5b0c340d696158ce5b056430f224599fd4f8f5809
+size 125087
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9359407eeaedf03a41e044c79c825cc33be95c35
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0baa3ab7234fabbf13b57480300ded4df81d4310b57c216db20d1abbc26963b5
+size 366661
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5192e5aa25809e3cf114c9e7d76f3ab9fb371463
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50caef5db9c410b0f229e3cf5d95833f91260792c6bfd68c3e10a99c8f844074
+size 726699
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b50621da1c3e842f46e01ecb83b8814300521ad
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:564bbd553c72166a647f957fdaf732fe93d821423297d87560b61d35f657bf14
+size 621760
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a93f0e395d231dce77807269e1d2905083124273
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de1f6d1fb3e5dfcbb7eef7ad4c34c8fcb74df2a5ffbad50b6a04a525548f4d8
+size 581133
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93babf70daf1597d96e1d5e20fe3a1a2777da0e8
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba545d61e53876098989f3f90663e67666d99d1f679e895a3a845f3b1207c5c
+size 649516
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f7bd8eb86478217cf3d34e0f9ee3220016a6312
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227b0a0e95439231b76c4fd84b1e2d0ddc1ac2a8f744f1b06a81ba64a67ed38b
+size 133573
diff --git a/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8523e1fed1de7d4ce8cac4e8deb608015b5a40e
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2264c7d808ebd976333b4c64c4ee221cb832d1dea165cc1f9ba255607d97904d
+size 380474
diff --git a/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004255.pkl b/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004255.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..95c5215ebf9b2b17e87087625bebc2ab70c3c8b3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004255.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e914af601df789c21613e44182727834fffe3907bfd8c982ef74c377a9626da8
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004256.pkl b/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004256.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d1d2ba35b7183462be27321b9bdbff16dfd5ad3f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004256.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13cdebadf51a31ccc9cc7fd7f41b45fdafada90318e86a251243c5723c916efb
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004301.pkl b/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004301.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6e20aad9777ed3654aaa21d3c903c33f44ea72e1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/experiment_config_20260512_004301.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd3b71b975a044586da2b03167a3eb2ef35e725fd27e318ed8c0b029b1eef5a
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_001/running_log.log b/fridge_m_0.7_pd/chunk_001/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..57b65eab38c4d945fb7e3fb62bc1fa30e71d438d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/running_log.log
@@ -0,0 +1,6537 @@
+05/12 00:42:56 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 00:42:56 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 00:42:56 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 00:42:56 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001'),
+ '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 0x748d6334c050>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50101,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 00:42:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 00:42:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 00:42:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 00:42:56 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 00:42:56 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 00:42:56 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 00:42:56 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001'),
+ '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 0x78cebfdbff50>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50104,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 00:42:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 00:42:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 00:42:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 00:42:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 00:42:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 00:42:59 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 00:42:59 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 00:42:59 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 00:42:59 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 00:42:59 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 00:42:59 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 00:42:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:42:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:42:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:42:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:42:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:42:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028742m	[env.py: 870]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:42:59 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 00:42:59 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 00:42:59 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 00:42:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:42:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:42:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:42:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:42:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:42:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015621m	[env.py: 870]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:42:59 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78015061  0.26495096  0.02874234] yaw=150.2deg	[env.py: 1019]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89945276  0.68830785  0.02874234] yaw=-143.1deg	[env.py: 1019]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11322181  1.11755099  0.02874234] yaw=-118.8deg	[env.py: 1019]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:43:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=20.9ms, retries=212.7ms, total=233.5ms	[env.py: 1075]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.265, 0.029)	[env.py: 1079]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.2 deg	[env.py: 1082]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78093965  1.05283862  0.01562091] yaw=-143.9deg	[env.py: 1019]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:43:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=27.4ms, retries=336.6ms, total=364.0ms	[env.py: 1075]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 1.053, 0.016)	[env.py: 1079]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/12 00:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:43:00 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:43:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:43:00 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:43:01 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 00:43:01 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 00:43:01 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 00:43:01 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001'),
+ '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 0x7c1677a3d750>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50103,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 00:43:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 00:43:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 00:43:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 00:43:01 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 00:43:01 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 00:43:01 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 00:43:01 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001'),
+ '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 0x7ae71bc31e50>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50102,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 00:43:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 00:43:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 00:43:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 00:43:01 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 00:43:01 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 00:43:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 00:43:04 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 00:43:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 00:43:04 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 00:43:04 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 00:43:04 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 00:43:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:43:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089656m	[env.py: 870]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:43:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:43:04 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 00:43:04 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95940166  1.26354107  0.08965607] yaw=-133.4deg	[env.py: 1019]
+05/12 00:43:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:43:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065007m	[env.py: 870]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:43:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98027728  0.923585    0.08965607] yaw=-139.1deg	[env.py: 1019]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90627488  0.88543366  0.08965607] yaw=-115.6deg	[env.py: 1019]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=129.3ms, total=150.9ms	[env.py: 1075]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 1.264, 0.090)	[env.py: 1079]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02978441  0.13335889  0.06500686] yaw=170.7deg	[env.py: 1019]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01762991  1.3283742   0.06500686] yaw=-138.5deg	[env.py: 1019]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79104677  0.4103384   0.06500686] yaw=162.3deg	[env.py: 1019]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=27.3ms, retries=278.1ms, total=305.4ms	[env.py: 1075]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.030, 0.133, 0.065)	[env.py: 1079]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
+05/12 00:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:43:04 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:43:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:43:05 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:43:33 INFO: [Worker 0] Warmed up parallel IK solver in 33.328s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:43:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:43:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:43:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 34.205s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:43:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:43:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:43:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:43:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.558[m] 97.722[deg]	[grasp_sample.py: 539]
+05/12 00:43:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:43:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:43:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:43:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:43:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.997s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:43:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.667[m] 85.483[deg]	[grasp_sample.py: 539]
+05/12 00:43:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:43:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:43:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:43:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:43:39 INFO: [Worker 0] Warmed up parallel IK solver in 34.459s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:43:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:43:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:43:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:43:40 INFO: [Worker 0] Warmed up parallel IK solver in 35.605s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:43:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:43:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:43:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:43:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:43:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 95.267[deg]	[grasp_sample.py: 539]
+05/12 00:43:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:43:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.546s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 00:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 00:43:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:43:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:43:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:43:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:43:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081208m	[env.py: 870]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75677585  0.8795481   0.08120798] yaw=-155.9deg	[env.py: 1019]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93385191  0.23795546  0.08120798] yaw=135.3deg	[env.py: 1019]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82226914  0.59530604  0.08120798] yaw=-141.5deg	[env.py: 1019]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.8ms, total=172.9ms	[env.py: 1075]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.880, 0.081)	[env.py: 1079]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
+05/12 00:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:43:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:43:43 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:43:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:43:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:43:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:43:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:43:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:43:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.572[m] 92.994[deg]	[grasp_sample.py: 539]
+05/12 00:43:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:43:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:43:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:43:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:44:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:44:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:44:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:44:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:44:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:45:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:45:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:45:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:45:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.862s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:45:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.636[deg]	[grasp_sample.py: 539]
+05/12 00:45:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:45:40 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:45:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:45:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:45:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:45:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:45:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:45:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:45:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:45:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:45:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.773[deg]	[grasp_sample.py: 539]
+05/12 00:45:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:45:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:45:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:45:51 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:45:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:46:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:46:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:46:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:46:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:46:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.742[deg]	[grasp_sample.py: 539]
+05/12 00:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:46:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:46:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:46:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:46:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 00:46:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:17 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:46:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 00:46:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:46:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:46:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:46:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:46:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:46:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.935s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:46:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.742[deg]	[grasp_sample.py: 539]
+05/12 00:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:46:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:46:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:46:21 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:46:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:46:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.71s (batch: 4.37s, save: 11.34s)	[pipeline.py: 300]
+05/12 00:46:23 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.52s:
+  episode_total: mean=207.80s, total=207.80s, count=1, min=207802.6ms, max=207802.6ms
+  sensor_polling: mean=379.9ms, total=113.96s, count=300, min=365.5ms, max=577.0ms
+  save_trajectories: mean=11.34s, total=11.34s, count=1, min=11335.6ms, max=11335.6ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=17.3ms, max=30.6ms
+  task_sampling: mean=4.52s, total=4.52s, count=1, min=4518.2ms, max=4518.2ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.5ms, max=4374.5ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3833.8ms, max=3833.8ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2138.0ms, max=2138.0ms
+  scene_compile: mean=1.53s, total=1.53s, count=1, min=1526.0ms, max=1526.0ms
+  compile_mujoco: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms
+  task_specific_sample: mean=681.2ms, total=681.2ms, count=1, min=681.2ms, max=681.2ms
+  compile_xml_load: mean=659.4ms, total=659.4ms, count=1, min=659.4ms, max=659.4ms
+  scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms
+  compile_aux_objects: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms
+  compile_aux_policy_objects: mean=62.4ms, total=62.4ms, count=1, min=62.4ms, max=62.4ms
+  scene_asset_install: mean=52.1ms, total=52.1ms, count=1, min=52.1ms, max=52.1ms
+  asset_install_grasps: mean=36.0ms, total=36.0ms, count=1, min=36.0ms, max=36.0ms
+  compile_robot_add: mean=26.5ms, total=26.5ms, count=1, min=26.5ms, max=26.5ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=443.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=56.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 00:46:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:46:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:46:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:46:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:46:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:46:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:46:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066340m	[env.py: 870]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:46:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92869024  0.81450104  0.0663401 ] yaw=-162.1deg	[env.py: 1019]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88831073  0.42712619  0.0663401 ] yaw=168.4deg	[env.py: 1019]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64807178  0.71974613  0.0663401 ] yaw=-167.8deg	[env.py: 1019]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:46:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.8ms, total=152.9ms	[env.py: 1075]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.815, 0.066)	[env.py: 1079]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg	[env.py: 1082]
+05/12 00:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:46:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:46:25 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:46:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:46:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:46:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:46:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:46:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 90.887[deg]	[grasp_sample.py: 539]
+05/12 00:46:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:46:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:46:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:46:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:46:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:46:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:46:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:46:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:46:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:46:29 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.054s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:46:29 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.172[m] 5.008[deg]	[grasp_sample.py: 539]
+05/12 00:46:31 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 00:46:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:46:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:46:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:46:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:46:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:46:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:46:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091514m	[env.py: 870]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:46:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8323486   0.45379693  0.09151432] yaw=150.6deg	[env.py: 1019]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.77876276  0.95565424  0.09151432] yaw=-126.5deg	[env.py: 1019]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:46:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.1ms	[env.py: 1075]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.454, 0.092)	[env.py: 1079]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
+05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:46:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:46:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:46:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:46:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:46:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:46:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:46:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:46:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.449[m] 89.011[deg]	[grasp_sample.py: 539]
+05/12 00:46:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:46:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:46:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:46:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.58s (batch: 4.28s, save: 12.31s)	[pipeline.py: 300]
+05/12 00:46:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:46:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:46:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:46:35 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.92s:
+  episode_total: mean=106.23s, total=212.47s, count=2, min=40579.5ms, max=171886.4ms
+  sensor_polling: mean=384.6ms, total=115.38s, count=300, min=363.2ms, max=575.2ms
+  save_trajectories: mean=12.31s, total=12.31s, count=1, min=12306.1ms, max=12306.1ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=16.8ms, max=35.4ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.7ms, max=4278.7ms
+  task_sampling: mean=1.96s, total=3.92s, count=2, min=430.3ms, max=3485.9ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2957.7ms, max=2957.7ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1887.3ms, max=1887.3ms
+  task_specific_sample: mean=476.3ms, total=952.6ms, count=2, min=427.1ms, max=525.5ms
+  scene_compile: mean=894.6ms, total=894.6ms, count=1, min=894.6ms, max=894.6ms
+  compile_mujoco: mean=632.2ms, total=632.2ms, count=1, min=632.2ms, max=632.2ms
+  compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms
+  scene_init: mean=118.6ms, total=118.6ms, count=1, min=118.6ms, max=118.6ms
+  compile_aux_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_policy_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms
+  asset_install_grasps: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  asset_install_objects: mean=12.0ms, total=12.0ms, count=1, min=12.0ms, max=12.0ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=463.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=33.4us, 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]
+05/12 00:46:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:46:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:46:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:46:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:46:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:46:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:46:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060830m	[env.py: 870]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:46:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91957332  0.67652013  0.06082992] yaw=-129.6deg	[env.py: 1019]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90767264  0.78046161  0.06082992] yaw=-181.3deg	[env.py: 1019]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99685349  0.10769701  0.06082992] yaw=146.0deg	[env.py: 1019]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:46:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.1ms, total=143.2ms	[env.py: 1075]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 0.677, 0.061)	[env.py: 1079]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.6 deg	[env.py: 1082]
+05/12 00:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:46:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:46:37 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:46:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:46:37 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]
+05/12 00:46:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:46:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:46:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.213s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:46:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 96.659[deg]	[grasp_sample.py: 539]
+05/12 00:46:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:46:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:46:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:46:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:46:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:46:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 00:46:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:47:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:47:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:47:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.28s (batch: 4.27s, save: 11.02s)	[pipeline.py: 300]
+05/12 00:47:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.27s:
+  episode_total: mean=246.85s, total=246.85s, count=1, min=246850.8ms, max=246850.8ms
+  sensor_polling: mean=404.2ms, total=121.25s, count=300, min=375.0ms, max=627.0ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11016.0ms, max=11016.0ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=14.4ms, max=33.4ms
+  task_sampling: mean=4.27s, total=4.27s, count=1, min=4273.5ms, max=4273.5ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4268.5ms, max=4268.5ms
+  scene_load: mean=3.68s, total=3.68s, count=1, min=3684.1ms, max=3684.1ms
+  scene_env_create: mean=2.12s, total=2.12s, count=1, min=2117.9ms, max=2117.9ms
+  scene_compile: mean=1.38s, total=1.38s, count=1, min=1379.2ms, max=1379.2ms
+  compile_mujoco: mean=739.8ms, total=739.8ms, count=1, min=739.8ms, max=739.8ms
+  task_specific_sample: mean=586.4ms, total=586.4ms, count=1, min=586.4ms, max=586.4ms
+  compile_xml_load: mean=539.2ms, total=539.2ms, count=1, min=539.2ms, max=539.2ms
+  scene_init: mean=120.9ms, total=120.9ms, count=1, min=120.9ms, max=120.9ms
+  scene_asset_install: mean=65.6ms, total=65.6ms, count=1, min=65.6ms, max=65.6ms
+  compile_aux_objects: mean=64.1ms, total=64.1ms, count=1, min=64.1ms, max=64.1ms
+  compile_aux_policy_objects: mean=64.1ms, total=64.1ms, count=1, min=64.1ms, max=64.1ms
+  asset_install_grasps: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_robot_add: mean=26.3ms, total=26.3ms, count=1, min=26.3ms, max=26.3ms
+  asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=52.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 00:47:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:47:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:47:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:47:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:47:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:47:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:47:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045179m	[env.py: 870]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:47:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88639533  0.92003211  0.04517875] yaw=-156.1deg	[env.py: 1019]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65305004  0.16243136  0.04517875] yaw=176.8deg	[env.py: 1019]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:47:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms	[env.py: 1075]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.920, 0.045)	[env.py: 1079]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.1 deg	[env.py: 1082]
+05/12 00:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:47:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:47:04 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:47:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:47:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:47:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:47:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:47:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:47:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 81.585[deg]	[grasp_sample.py: 539]
+05/12 00:47:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:47:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:47:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:47:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:47:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:47:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:47:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:47:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:48:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:48:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:48:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:48:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:48:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:48:27 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.662[deg]	[grasp_sample.py: 539]
+05/12 00:48:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:48:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:48:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:48:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:48:32 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:48:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:48:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:48:47 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:48:59 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:48:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 00:48:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:49:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:49:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:49:11 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]
+05/12 00:49:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:49:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:49:13 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.243s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:49:13 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.170[m] 5.003[deg]	[grasp_sample.py: 539]
+05/12 00:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:49:14 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:49:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 00:49:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:49:15 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:49:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:49:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:49:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.31s (batch: 4.71s, save: 11.61s)	[pipeline.py: 300]
+05/12 00:49:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.44s:
+  episode_total: mean=171.24s, total=171.24s, count=1, min=171236.6ms, max=171236.6ms
+  sensor_polling: mean=388.7ms, total=116.60s, count=300, min=370.7ms, max=582.9ms
+  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11607.6ms, max=11607.6ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=16.5ms, max=30.8ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4706.9ms, max=4706.9ms
+  task_sampling: mean=444.9ms, total=444.9ms, count=1, min=444.9ms, max=444.9ms
+  task_specific_sample: mean=440.8ms, total=440.8ms, count=1, min=440.8ms, max=440.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=451.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=80.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:49:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:49:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:49:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:49:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:49:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:49:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040598m	[env.py: 870]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:49:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08024869  1.03398995  0.04059844] yaw=-177.3deg	[env.py: 1019]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03309199  0.99112148  0.04059844] yaw=-182.7deg	[env.py: 1019]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83806345  0.99850987  0.04059844] yaw=-122.0deg	[env.py: 1019]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:49:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.4ms, total=241.5ms	[env.py: 1075]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 1.034, 0.041)	[env.py: 1079]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg	[env.py: 1082]
+05/12 00:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:49:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:49:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:49:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:49:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:49:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:49:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:49:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:49:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 83.177[deg]	[grasp_sample.py: 539]
+05/12 00:49:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:49:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:49:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:49:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:49:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:49:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:49:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:49:30 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.166[m] 4.837[deg]	[grasp_sample.py: 539]
+05/12 00:49:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:49:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:49:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.13s (batch: 4.36s, save: 11.77s)	[pipeline.py: 300]
+05/12 00:49:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:49:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:49:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:49:31 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=174.30s, total=174.30s, count=1, min=174303.9ms, max=174303.9ms
+  sensor_polling: mean=392.0ms, total=117.61s, count=300, min=367.5ms, max=575.7ms
+  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11772.2ms, max=11772.2ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=16.9ms, max=31.4ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.8ms, max=4358.8ms
+  task_sampling: mean=442.2ms, total=442.2ms, count=1, min=442.2ms, max=442.2ms
+  task_specific_sample: mean=438.1ms, total=438.1ms, count=1, min=438.1ms, max=438.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=522.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=37.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:49:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:49:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:49:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:49:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058045m	[env.py: 870]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:49:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09434446  1.07469487  0.05804513] yaw=-114.1deg	[env.py: 1019]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01010479  0.82129269  0.05804513] yaw=-118.4deg	[env.py: 1019]
+05/12 00:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:49:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=194.9ms, total=194.9ms	[env.py: 1075]
+05/12 00:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.094, 1.075, 0.058)	[env.py: 1079]
+05/12 00:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.1 deg	[env.py: 1082]
+05/12 00:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/12 00:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:49:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:49:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:49:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:49:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:49:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:49:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:49:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.300s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:49:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 99.531[deg]	[grasp_sample.py: 539]
+05/12 00:49:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:49:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:49:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:49:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:49:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 00:49:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:49:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:49:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:49:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:49:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.57s (batch: 4.16s, save: 11.42s)	[pipeline.py: 300]
+05/12 00:49:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.56s:
+  episode_total: mean=173.30s, total=173.30s, count=1, min=173296.0ms, max=173296.0ms
+  sensor_polling: mean=398.6ms, total=119.58s, count=300, min=369.8ms, max=625.1ms
+  save_trajectories: mean=11.42s, total=11.42s, count=1, min=11415.8ms, max=11415.8ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=17.0ms, max=32.7ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.6ms, max=4157.6ms
+  task_sampling: mean=564.2ms, total=564.2ms, count=1, min=564.2ms, max=564.2ms
+  task_specific_sample: mean=560.0ms, total=560.0ms, count=1, min=560.0ms, max=560.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=489.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:49:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:49:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:49:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:49:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:49:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:49:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:49:59 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: 256]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078187m	[env.py: 870]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:49:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75654571  0.10962951  0.07818682] yaw=121.0deg	[env.py: 1019]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95789017  0.36817713  0.07818682] yaw=197.8deg	[env.py: 1019]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90031134  0.48722333  0.07818682] yaw=-140.6deg	[env.py: 1019]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:49:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.6ms, total=191.6ms	[env.py: 1075]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.110, 0.078)	[env.py: 1079]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 121.0 deg	[env.py: 1082]
+05/12 00:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:49:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:49:59 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:49:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:49:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:49:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:49:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:50:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:50:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.657[m] 93.417[deg]	[grasp_sample.py: 539]
+05/12 00:50:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:50:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:50:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:50:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:50:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:50:08 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:50:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 00:50:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:50:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:50:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:50:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.17s (batch: 4.30s, save: 11.86s)	[pipeline.py: 300]
+05/12 00:50:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.04s:
+  episode_total: mean=221.24s, total=442.49s, count=2, min=209693.3ms, max=232795.4ms
+  sensor_polling: mean=426.9ms, total=235.64s, count=552, min=393.6ms, max=742.5ms
+  physics_step: mean=24.9ms, total=13.74s, count=552, min=14.5ms, max=43.3ms
+  save_trajectories: mean=11.86s, total=11.86s, count=1, min=11860.5ms, max=11860.5ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4305.0ms, max=4305.0ms
+  task_sampling: mean=2.02s, total=4.04s, count=2, min=500.9ms, max=3537.9ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2902.1ms, max=2902.1ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.0ms, max=1808.0ms
+  task_specific_sample: mean=564.4ms, total=1.13s, count=2, min=497.1ms, max=631.7ms
+  scene_compile: mean=908.2ms, total=908.2ms, count=1, min=908.2ms, max=908.2ms
+  compile_mujoco: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
+  compile_xml_load: mean=198.2ms, total=198.2ms, count=1, min=198.2ms, max=198.2ms
+  scene_init: mean=132.6ms, total=132.6ms, count=1, min=132.6ms, max=132.6ms
+  compile_aux_objects: mean=83.7ms, total=83.7ms, count=1, min=83.7ms, max=83.7ms
+  compile_aux_policy_objects: mean=83.7ms, total=83.7ms, count=1, min=83.7ms, max=83.7ms
+  scene_asset_install: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=12.5ms, total=12.5ms, count=1, min=12.5ms, max=12.5ms
+  asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=2.0ms, max=2.2ms
+  mj_forward_sync: mean=527.0us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=63.9us, total=0.1ms, count=2, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:50:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:50:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068166m	[env.py: 870]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75512655  1.03531272  0.06816641] yaw=-110.2deg	[env.py: 1019]
+05/12 00:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99936638  0.21598986  0.06816641] yaw=119.6deg	[env.py: 1019]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82297326  0.19963903  0.06816641] yaw=173.7deg	[env.py: 1019]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.0ms, total=266.0ms	[env.py: 1075]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 1.035, 0.068)	[env.py: 1079]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.2 deg	[env.py: 1082]
+05/12 00:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/12 00:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:50:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:50:27 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:50:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:50:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:50:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.778[m] 92.266[deg]	[grasp_sample.py: 539]
+05/12 00:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:50:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:50:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:51:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:51:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:51:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:51:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:51:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:51:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:51:23 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 6.534[deg]	[grasp_sample.py: 539]
+05/12 00:51:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:51:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:51:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:51:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:51:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:51:36 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:51:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:51:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:51:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:48 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:52:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:52:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:52:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:52:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:52:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:52:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:52:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 00:52:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:52:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:52:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.256[deg]	[grasp_sample.py: 539]
+05/12 00:52:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:52:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:52:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:52:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:52:15 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:52:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 00:52:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:52:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:52:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:52:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:52:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.74s (batch: 4.31s, save: 11.43s)	[pipeline.py: 300]
+05/12 00:52:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.54s:
+  episode_total: mean=181.98s, total=181.98s, count=1, min=181977.4ms, max=181977.4ms
+  sensor_polling: mean=382.6ms, total=114.77s, count=300, min=358.5ms, max=655.5ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11426.5ms, max=11426.5ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=15.6ms, max=32.1ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.7ms, max=4312.7ms
+  task_sampling: mean=540.7ms, total=540.7ms, count=1, min=540.7ms, max=540.7ms
+  task_specific_sample: mean=535.8ms, total=535.8ms, count=1, min=535.8ms, max=535.8ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=467.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:52:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:52:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:52:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:52:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:52:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:52:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:52:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081499m	[env.py: 870]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:52:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.8ms, total=217.9ms	[env.py: 1105]
+05/12 00:52:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/12 00:52:21 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/12 00:52:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:52:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:52:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:52:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:52:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:52:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071408m	[env.py: 870]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:52:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77000119  0.38533036  0.07140813] yaw=189.5deg	[env.py: 1019]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:52:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.4ms, total=177.4ms	[env.py: 1075]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.385, 0.071)	[env.py: 1079]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.5 deg	[env.py: 1082]
+05/12 00:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:52:23 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:52:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:52:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:52:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:52:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:52:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:52:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.512[m] 86.670[deg]	[grasp_sample.py: 539]
+05/12 00:52:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:52:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:52:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:52:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:52:25 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 00:52:25 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.50s:
+  episode_total: mean=146.82s, total=146.82s, count=1, min=146822.0ms, max=146822.0ms
+  sensor_polling: mean=399.4ms, total=119.83s, count=300, min=363.1ms, max=658.3ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=16.6ms, max=37.7ms
+  task_sampling: mean=499.4ms, total=499.4ms, count=1, min=499.4ms, max=499.4ms
+  task_specific_sample: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=456.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:52:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030797m	[env.py: 870]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98916915  0.16864645  0.03079744] yaw=194.7deg	[env.py: 1019]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74692508  0.85878172  0.03079744] yaw=-187.7deg	[env.py: 1019]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02126343  0.89674054  0.03079744] yaw=-166.6deg	[env.py: 1019]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=219.0ms, total=219.1ms	[env.py: 1075]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.169, 0.031)	[env.py: 1079]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 194.7 deg	[env.py: 1082]
+05/12 00:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:52:27 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:52:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.838s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:52:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 97.297[deg]	[grasp_sample.py: 539]
+05/12 00:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:52:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:52:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:52:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:52:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:52:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.09s (batch: 4.18s, save: 11.91s)	[pipeline.py: 300]
+05/12 00:52:32 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s:
+  episode_total: mean=179.77s, total=179.77s, count=1, min=179766.8ms, max=179766.8ms
+  sensor_polling: mean=387.6ms, total=116.28s, count=300, min=361.8ms, max=660.7ms
+  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11909.7ms, max=11909.7ms
+  physics_step: mean=24.1ms, total=7.22s, count=300, min=17.7ms, max=31.8ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.3ms, max=4176.3ms
+  task_sampling: mean=507.3ms, total=507.3ms, count=1, min=507.3ms, max=507.3ms
+  task_specific_sample: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=458.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:52:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:52:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097971m	[env.py: 870]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05916547  1.06239043  0.09797131] yaw=-138.7deg	[env.py: 1019]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82505927  0.9468262   0.09797131] yaw=-160.0deg	[env.py: 1019]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11474166  1.0773644   0.09797131] yaw=-114.2deg	[env.py: 1019]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.4ms	[env.py: 1075]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.062, 0.098)	[env.py: 1079]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
+05/12 00:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:52:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:52:34 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:52:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:52:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:52:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:52:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:52:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.955s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:52:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 82.591[deg]	[grasp_sample.py: 539]
+05/12 00:52:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:52:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:52:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:52:42 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:53:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:53:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 00:53:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:53:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:53:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:53:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:53:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:53:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:53:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.83s (batch: 4.00s, save: 11.83s)	[pipeline.py: 300]
+05/12 00:53:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
+  episode_total: mean=176.53s, total=176.53s, count=1, min=176531.7ms, max=176531.7ms
+  sensor_polling: mean=407.9ms, total=122.38s, count=300, min=376.7ms, max=725.1ms
+  save_trajectories: mean=11.83s, total=11.83s, count=1, min=11833.9ms, max=11833.9ms
+  physics_step: mean=23.5ms, total=7.05s, count=300, min=16.9ms, max=70.5ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.7ms, max=3995.7ms
+  task_sampling: mean=552.2ms, total=552.2ms, count=1, min=552.2ms, max=552.2ms
+  task_specific_sample: mean=548.4ms, total=548.4ms, count=1, min=548.4ms, max=548.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=471.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:53:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:53:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:53:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:53:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:53:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:53:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:53:24 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: 256]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016986m	[env.py: 870]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:53:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71823735  0.22013586  0.01698607] yaw=139.8deg	[env.py: 1019]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87424857  0.64311318  0.01698607] yaw=-175.5deg	[env.py: 1019]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62700768  0.620686    0.01698607] yaw=-142.5deg	[env.py: 1019]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:53:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.2ms	[env.py: 1075]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.220, 0.017)	[env.py: 1079]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.8 deg	[env.py: 1082]
+05/12 00:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:53:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:53:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:53:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:53:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:53:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:53:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:53:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:53:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.947s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:53:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.645[m] 99.453[deg]	[grasp_sample.py: 539]
+05/12 00:53:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:53:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:53:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:53:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:54:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:54:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:54:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:54:44 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]
+05/12 00:54:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:54:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:54:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.322[deg]	[grasp_sample.py: 539]
+05/12 00:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:48 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 00:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:54:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:54:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:54:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:54:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:54:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:54:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084398m	[env.py: 870]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:54:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96062033  1.01667614  0.08439849] yaw=-157.1deg	[env.py: 1019]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81807334  0.39139294  0.08439849] yaw=174.8deg	[env.py: 1019]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93429679  1.11874344  0.08439849] yaw=-130.3deg	[env.py: 1019]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:54:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms	[env.py: 1075]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.017, 0.084)	[env.py: 1079]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:54:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:54:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:54:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:54:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:54:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.539[m] 102.287[deg]	[grasp_sample.py: 539]
+05/12 00:54:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:54:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:54:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:54:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:54:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:54:57 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]
+05/12 00:54:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:00 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:55:00 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.051[m] 17.823[deg]	[grasp_sample.py: 539]
+05/12 00:55:01 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 00:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:02 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:55:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 00:55:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:55:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:55:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:55:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:55:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095449m	[env.py: 870]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97652557  1.06475626  0.09544881] yaw=-115.0deg	[env.py: 1019]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6151435   0.53429749  0.09544881] yaw=-208.1deg	[env.py: 1019]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83544223  0.98309769  0.09544881] yaw=-157.8deg	[env.py: 1019]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.9ms, total=142.0ms	[env.py: 1075]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 1.065, 0.095)	[env.py: 1079]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.0 deg	[env.py: 1082]
+05/12 00:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:55:05 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:55:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:55:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:55:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:55:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:55:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:55:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.248[deg]	[grasp_sample.py: 539]
+05/12 00:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:55:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:55:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:55:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:55:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.51s (batch: 4.37s, save: 11.14s)	[pipeline.py: 300]
+05/12 00:55:18 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=87.98s, total=175.97s, count=2, min=231.2ms, max=175737.9ms
+  sensor_polling: mean=395.6ms, total=118.69s, count=300, min=371.4ms, max=644.0ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11140.7ms, max=11140.7ms
+  physics_step: mean=23.2ms, total=6.95s, count=300, min=16.7ms, max=30.2ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.8ms, max=4369.8ms
+  task_specific_sample: mean=348.0ms, total=695.9ms, count=2, min=224.4ms, max=471.5ms
+  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
+  task_sampling_failed: mean=231.1ms, total=231.1ms, count=1, min=231.1ms, max=231.1ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=453.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:55:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:55:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:55:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004590m	[env.py: 870]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73819922  0.64907555  0.00459041] yaw=-170.6deg	[env.py: 1019]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93696086  0.69582547  0.00459041] yaw=-171.5deg	[env.py: 1019]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14088543  1.00515928  0.00459041] yaw=-129.3deg	[env.py: 1019]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:55:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms	[env.py: 1075]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.649, 0.005)	[env.py: 1079]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg	[env.py: 1082]
+05/12 00:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:55:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:55:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:55:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:55:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:55:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:55:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:55:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 15.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:55:21 INFO: [Worker 0] Feasible grasp found 188 (originally 73): w/ 0.633[m] 108.871[deg]	[grasp_sample.py: 539]
+05/12 00:55:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.903s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:55:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 80.602[deg]	[grasp_sample.py: 539]
+05/12 00:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:55:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:55:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:55:22 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 00:55:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:55:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:55:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:55:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030916m	[env.py: 870]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06132528  1.23610319  0.03091605] yaw=-143.9deg	[env.py: 1019]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04261106  1.12108388  0.03091605] yaw=-117.5deg	[env.py: 1019]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81930558  0.19984939  0.03091605] yaw=140.0deg	[env.py: 1019]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=195.6ms, total=195.6ms	[env.py: 1075]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 1.236, 0.031)	[env.py: 1079]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/12 00:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:55:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:55:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:55:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:55:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:55:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:55:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:55:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:55:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.555[m] 78.018[deg]	[grasp_sample.py: 539]
+05/12 00:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:55:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:55:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:55:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:55:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:55:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:55:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:55:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:55:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:55:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.010s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:55:47 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.900[deg]	[grasp_sample.py: 539]
+05/12 00:55:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:55:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:55:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:55:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:56:00 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 00:56:00 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.45s:
+  episode_total: mean=155.76s, total=155.76s, count=1, min=155761.2ms, max=155761.2ms
+  sensor_polling: mean=408.0ms, total=122.41s, count=300, min=385.1ms, max=748.5ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=15.2ms, max=32.5ms
+  task_sampling: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms
+  task_specific_sample: mean=448.7ms, total=448.7ms, count=1, min=448.7ms, max=448.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=469.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:56:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:56:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:56:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:56:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:56:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:56:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:56:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094806m	[env.py: 870]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:56:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8695407   0.1142321   0.09480559] yaw=142.0deg	[env.py: 1019]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77538629  0.52134974  0.09480559] yaw=-163.3deg	[env.py: 1019]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9835632   0.21455069  0.09480559] yaw=136.5deg	[env.py: 1019]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=274.6ms, total=274.7ms	[env.py: 1075]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.114, 0.095)	[env.py: 1079]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg	[env.py: 1082]
+05/12 00:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:56:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:56:02 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:56:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:56:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:56:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:56:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:56:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.072s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:56:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.491[m] 92.975[deg]	[grasp_sample.py: 539]
+05/12 00:56:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:56:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:56:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:56:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:56:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:56:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:56:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:56:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:56:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:56:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:56:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:00 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:57:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:57:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:57:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:57:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:57:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:57:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.360[deg]	[grasp_sample.py: 539]
+05/12 00:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:57:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:57:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:57:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:57:28 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:57:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 00:57:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:57:31 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 00:57:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:57:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:57:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:57:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.98s (batch: 4.18s, save: 11.80s)	[pipeline.py: 300]
+05/12 00:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:45 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.01s:
+  episode_total: mean=154.71s, total=309.41s, count=2, min=134317.1ms, max=175097.8ms
+  sensor_polling: mean=394.5ms, total=227.21s, count=576, min=369.3ms, max=729.1ms
+  physics_step: mean=24.0ms, total=13.84s, count=576, min=17.4ms, max=35.5ms
+  save_trajectories: mean=11.80s, total=11.80s, count=1, min=11801.0ms, max=11801.0ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4183.4ms, max=4183.4ms
+  task_sampling: mean=504.0ms, total=1.01s, count=2, min=457.8ms, max=550.2ms
+  task_specific_sample: mean=499.5ms, total=999.0ms, count=2, min=452.9ms, max=546.1ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.8ms, max=2.4ms
+  mj_forward_sync: mean=450.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=27.9us, 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]
+05/12 00:57:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:57:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:57:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:57:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:57:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:57:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:57:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019376m	[env.py: 870]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:57:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97649089  0.96189203  0.01937624] yaw=-186.4deg	[env.py: 1019]
+05/12 00:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:57:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=438.8ms, total=438.9ms	[env.py: 1075]
+05/12 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.962, 0.019)	[env.py: 1079]
+05/12 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.4 deg	[env.py: 1082]
+05/12 00:57:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/12 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:57:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:57:47 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:57:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:57:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:57:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:57:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:57:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.994s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:57:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 83.248[deg]	[grasp_sample.py: 539]
+05/12 00:57:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:57:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:57:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:57:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:57:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:57:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 00:57:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 00:57:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 00:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:57:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 00:57:58 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 00:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:58:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:58:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:58:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:58:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:58:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:58:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:58:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045057m	[env.py: 870]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:58:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78294507  1.06085602  0.04505704] yaw=-134.2deg	[env.py: 1019]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12911435  1.1918062   0.04505704] yaw=-145.9deg	[env.py: 1019]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95766553  0.27955343  0.04505704] yaw=149.0deg	[env.py: 1019]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=213.9ms	[env.py: 1075]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 1.061, 0.045)	[env.py: 1079]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
+05/12 00:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:58:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:58:01 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:58:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:58:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:58:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:58:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 00:58:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 00:58:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:58:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:58:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:58:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:58:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.330[deg]	[grasp_sample.py: 539]
+05/12 00:58:07 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 00:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:58:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:58:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:58:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:58:08 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: 256]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078396m	[env.py: 870]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7072106   0.14469012  0.07839592] yaw=128.3deg	[env.py: 1019]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06863883  0.95325443  0.07839592] yaw=-120.1deg	[env.py: 1019]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86693284  0.38927852  0.07839592] yaw=187.8deg	[env.py: 1019]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.9ms, total=146.9ms	[env.py: 1075]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.145, 0.078)	[env.py: 1079]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.3 deg	[env.py: 1082]
+05/12 00:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:58:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:58:09 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:58:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:58:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:58:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.930s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:58:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.677[m] 86.621[deg]	[grasp_sample.py: 539]
+05/12 00:58:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:58:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:58:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:58:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:58:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 00:58:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 00:58:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.46s (batch: 4.28s, save: 11.17s)	[pipeline.py: 300]
+05/12 00:58:12 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.44s:
+  episode_total: mean=172.70s, total=172.70s, count=1, min=172703.3ms, max=172703.3ms
+  sensor_polling: mean=398.6ms, total=119.58s, count=300, min=361.8ms, max=691.8ms
+  save_trajectories: mean=11.17s, total=11.17s, count=1, min=11174.7ms, max=11174.7ms
+  physics_step: mean=24.1ms, total=7.23s, count=300, min=16.6ms, max=31.4ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4282.7ms, max=4282.7ms
+  task_sampling: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
+  task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=499.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 00:58:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 00:58:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 00:58:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:58:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 00:58:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 00:58:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 00:58:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079435m	[env.py: 870]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 00:58:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85727921  0.10536776  0.07943526] yaw=152.6deg	[env.py: 1019]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81929233  0.71363333  0.07943526] yaw=-136.1deg	[env.py: 1019]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20787661  1.09733833  0.07943526] yaw=-118.5deg	[env.py: 1019]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 00:58:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.8ms, total=168.9ms	[env.py: 1075]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.105, 0.079)	[env.py: 1079]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg	[env.py: 1082]
+05/12 00:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 00:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 00:58:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 00:58:14 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 00:58:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/12 00:58:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 00:58:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 00:58:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 00:58:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.952s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:58:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.457[m] 84.786[deg]	[grasp_sample.py: 539]
+05/12 00:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:58:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:58:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:58:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 00:58:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 16.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 00:58:17 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.729[m] 106.143[deg]	[grasp_sample.py: 539]
+05/12 00:58:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 00:58:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 00:58:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:58:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:58:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:58:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:58:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:59:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:59:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:59:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:59:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:59:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:59:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:59:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 00:59:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 00:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 00:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:00:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:00:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:00:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.259[deg]	[grasp_sample.py: 539]
+05/12 01:00:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:00:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:00:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:00:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:00:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:00:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:07 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.040[m] 7.393[deg]	[grasp_sample.py: 539]
+05/12 01:00:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:00:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:00:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:00:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:00:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.494[deg]	[grasp_sample.py: 539]
+05/12 01:00:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:00:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:00:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:00:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:00:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:00:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:00:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:00:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013162m	[env.py: 870]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:00:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97490583  0.28059795  0.01316212] yaw=178.6deg	[env.py: 1019]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:00:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=421.8ms, total=421.8ms	[env.py: 1075]
+05/12 01:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.281, 0.013)	[env.py: 1079]
+05/12 01:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg	[env.py: 1082]
+05/12 01:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/12 01:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:00:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:00:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:00:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:00:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:00:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 96.458[deg]	[grasp_sample.py: 539]
+05/12 01:00:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:00:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:00:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:00:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:00:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:00:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:00:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:00:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:00:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:00:37 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]
+05/12 01:00:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:39 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:39 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.636[deg]	[grasp_sample.py: 539]
+05/12 01:00:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:00:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:00:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:44 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 01:00:44 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.94s:
+  episode_total: mean=140.61s, total=281.22s, count=2, min=125165.8ms, max=156049.5ms
+  sensor_polling: mean=409.8ms, total=224.59s, count=548, min=385.9ms, max=829.6ms
+  physics_step: mean=23.4ms, total=12.81s, count=548, min=15.4ms, max=63.8ms
+  task_sampling: mean=471.0ms, total=942.0ms, count=2, min=413.0ms, max=529.0ms
+  task_specific_sample: mean=466.1ms, total=932.2ms, count=2, min=409.2ms, max=523.0ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.4ms, max=1.9ms
+  mj_forward_sync: mean=450.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:00:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:00:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:00:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:00:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:00:46 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: 178]
+05/12 01:00:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:00:46 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: 256]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058516m	[env.py: 870]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:00:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85889541  0.34208362  0.05851603] yaw=135.1deg	[env.py: 1019]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:00:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78391012  0.33969732  0.05851603] yaw=187.0deg	[env.py: 1019]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05331348  1.17881931  0.05851603] yaw=-167.3deg	[env.py: 1019]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:00:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.3ms	[env.py: 1075]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.342, 0.059)	[env.py: 1079]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.1 deg	[env.py: 1082]
+05/12 01:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:00:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:00:46 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:00:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:00:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:00:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.520[m] 93.717[deg]	[grasp_sample.py: 539]
+05/12 01:00:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:00:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:00:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:00:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:00:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:00:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.23s (batch: 3.97s, save: 11.26s)	[pipeline.py: 300]
+05/12 01:00:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.73s:
+  episode_total: mean=183.55s, total=183.55s, count=1, min=183553.6ms, max=183553.6ms
+  sensor_polling: mean=388.3ms, total=116.48s, count=300, min=359.7ms, max=723.9ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11257.8ms, max=11257.8ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=21.6ms, max=60.2ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3971.4ms, max=3971.4ms
+  task_sampling: mean=732.9ms, total=732.9ms, count=1, min=732.9ms, max=732.9ms
+  task_specific_sample: mean=729.2ms, total=729.2ms, count=1, min=729.2ms, max=729.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=451.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:00:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:00:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:00:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:00:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:00:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:00:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:00:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067993m	[env.py: 870]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:00:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91617334  0.36330684  0.06799306] yaw=204.3deg	[env.py: 1019]
+05/12 01:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74361384  0.35773593  0.06799306] yaw=157.5deg	[env.py: 1019]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73458786  0.20632226  0.06799306] yaw=141.1deg	[env.py: 1019]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:00:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=214.9ms	[env.py: 1075]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.363, 0.068)	[env.py: 1079]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.3 deg	[env.py: 1082]
+05/12 01:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
+05/12 01:00:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:00:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:00:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:00:52 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:00:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:00:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:00:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:00:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:00:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:00:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 83.169[deg]	[grasp_sample.py: 539]
+05/12 01:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:00:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:00:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:00:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:00:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:00:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:00:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:00:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:00:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:01:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:01:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:01:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.12s (batch: 5.20s, save: 10.91s)	[pipeline.py: 300]
+05/12 01:01:11 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.00s:
+  episode_total: mean=128.84s, total=515.36s, count=4, min=17845.8ms, max=190829.7ms
+  sensor_polling: mean=411.2ms, total=340.04s, count=827, min=366.3ms, max=838.8ms
+  physics_step: mean=23.5ms, total=19.46s, count=827, min=15.7ms, max=38.9ms
+  save_trajectories: mean=10.91s, total=10.91s, count=1, min=10913.4ms, max=10913.4ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5201.5ms, max=5201.5ms
+  task_sampling: mean=499.0ms, total=2.00s, count=4, min=468.8ms, max=549.5ms
+  task_specific_sample: mean=493.7ms, total=1.97s, count=4, min=460.5ms, max=545.9ms
+  scene_randomize: mean=2.3ms, total=9.1ms, count=4, min=1.4ms, max=3.3ms
+  mj_forward_sync: mean=496.3us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:01:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:01:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:01:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:01:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:01:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:01:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:01:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099788m	[env.py: 870]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:01:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03541733  0.96943338  0.09978775] yaw=-108.9deg	[env.py: 1019]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89319409  0.86977639  0.09978775] yaw=-184.6deg	[env.py: 1019]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79896742  0.5431739   0.09978775] yaw=-198.7deg	[env.py: 1019]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:01:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=447.1ms, total=447.2ms	[env.py: 1075]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.969, 0.100)	[env.py: 1079]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.9 deg	[env.py: 1082]
+05/12 01:01:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:01:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:01:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:01:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:01:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:01:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:01:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:01:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:01:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.092s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:01:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 103.336[deg]	[grasp_sample.py: 539]
+05/12 01:01:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:01:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:01:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:01:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:01:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:01:36 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]
+05/12 01:01:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:01:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:01:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.766s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:01:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.106[deg]	[grasp_sample.py: 539]
+05/12 01:01:39 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:01:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:01:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:01:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:01:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:01:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:01:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068965m	[env.py: 870]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81059039  0.43053325  0.0689645 ] yaw=163.4deg	[env.py: 1019]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73758112  0.61284359  0.0689645 ] yaw=-202.7deg	[env.py: 1019]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.16000345  1.01040216  0.0689645 ] yaw=-136.3deg	[env.py: 1019]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.5ms	[env.py: 1075]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.431, 0.069)	[env.py: 1079]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg	[env.py: 1082]
+05/12 01:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:01:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:01:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:01:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:01:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:01:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:01:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:01:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:01:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.424[m] 86.000[deg]	[grasp_sample.py: 539]
+05/12 01:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:01:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:01:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:01:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:01:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:02:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:02:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:02:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:02:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:02:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:02:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:02:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:02:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:02:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.669s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:02:28 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.402[deg]	[grasp_sample.py: 539]
+05/12 01:02:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:02:29 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:02:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:02:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:02:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:02:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:02:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:02:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:02:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095480m	[env.py: 870]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:02:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01099292  1.01232788  0.09547986] yaw=-117.5deg	[env.py: 1019]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.971441    1.00640267  0.09547986] yaw=-108.2deg	[env.py: 1019]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94501687  0.38317741  0.09547986] yaw=192.3deg	[env.py: 1019]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:02:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms	[env.py: 1075]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.012, 0.095)	[env.py: 1079]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.5 deg	[env.py: 1082]
+05/12 01:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:02:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:02:31 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:02:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:02:31 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]
+05/12 01:02:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:02:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:02:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.039s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:02:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 104.474[deg]	[grasp_sample.py: 539]
+05/12 01:02:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:02:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:02:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:02:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:02:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:02:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:02:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:02:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:02:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:02:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:02:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.347[deg]	[grasp_sample.py: 539]
+05/12 01:02:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:02:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:02:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:03:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:25 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:03:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:03:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:03:31 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]
+05/12 01:03:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:03:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:03:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:03:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.831[deg]	[grasp_sample.py: 539]
+05/12 01:03:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:03:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:03:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:03:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:03:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:03:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:03:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:03:53 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:03:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:03:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:04:04 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:04:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:04:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:04:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.71s (batch: 4.07s, save: 10.64s)	[pipeline.py: 300]
+05/12 01:04:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:04:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:04:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.64s (batch: 4.96s, save: 11.68s)	[pipeline.py: 300]
+05/12 01:04:09 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
+  episode_total: mean=202.70s, total=202.70s, count=1, min=202703.2ms, max=202703.2ms
+  sensor_polling: mean=408.2ms, total=122.46s, count=300, min=382.7ms, max=825.4ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10638.3ms, max=10638.3ms
+  physics_step: mean=23.3ms, total=6.99s, count=300, min=15.2ms, max=32.6ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.1ms, max=4071.1ms
+  task_sampling: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  task_specific_sample: mean=443.2ms, total=443.2ms, count=1, min=443.2ms, max=443.2ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:04:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.79s:
+  episode_total: mean=176.15s, total=176.15s, count=1, min=176146.4ms, max=176146.4ms
+  sensor_polling: mean=404.8ms, total=121.43s, count=300, min=373.5ms, max=781.3ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11680.9ms, max=11680.9ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=16.7ms, max=33.2ms
+  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4963.0ms, max=4963.0ms
+  task_sampling: mean=792.5ms, total=792.5ms, count=1, min=792.5ms, max=792.5ms
+  task_specific_sample: mean=788.2ms, total=788.2ms, count=1, min=788.2ms, max=788.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=51.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:04:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:04:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:04:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:04:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:04:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:04:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096682m	[env.py: 870]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:04:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96305781  1.19284978  0.0966816 ] yaw=-172.1deg	[env.py: 1019]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72484839  0.19852213  0.0966816 ] yaw=142.1deg	[env.py: 1019]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:04:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=296.3ms, total=296.3ms	[env.py: 1075]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.963, 1.193, 0.097)	[env.py: 1079]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
+05/12 01:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:04:10 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:04:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:04:11 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]
+05/12 01:04:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:04:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:04:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:04:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:04:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:04:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:04:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:04:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059506m	[env.py: 870]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:04:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03402572  1.10222207  0.05950601] yaw=-118.3deg	[env.py: 1019]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86784916  0.18867418  0.05950601] yaw=136.4deg	[env.py: 1019]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96266691  0.93575898  0.05950601] yaw=-146.5deg	[env.py: 1019]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:04:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.6ms, total=125.7ms	[env.py: 1075]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 1.102, 0.060)	[env.py: 1079]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.3 deg	[env.py: 1082]
+05/12 01:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:04:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:04:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:04:11 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]
+05/12 01:04:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:04:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:04:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:04:13 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.716[m] 90.409[deg]	[grasp_sample.py: 539]
+05/12 01:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:04:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:04:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:04:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.034s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:04:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.504[m] 94.058[deg]	[grasp_sample.py: 539]
+05/12 01:04:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:04:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:04:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:04:30 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:04:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 01:04:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:04:44 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:04:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:04:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:04:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.16s (batch: 4.84s, save: 11.32s)	[pipeline.py: 300]
+05/12 01:04:47 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.64s:
+  episode_total: mean=130.07s, total=390.22s, count=3, min=87067.6ms, max=186261.1ms
+  sensor_polling: mean=397.2ms, total=282.41s, count=711, min=359.6ms, max=756.7ms
+  physics_step: mean=24.3ms, total=17.30s, count=711, min=15.2ms, max=75.6ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11320.1ms, max=11320.1ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4839.6ms, max=4839.6ms
+  task_sampling: mean=545.2ms, total=1.64s, count=3, min=444.4ms, max=695.2ms
+  task_specific_sample: mean=541.0ms, total=1.62s, count=3, min=438.6ms, max=692.2ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=449.1us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:04:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:04:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:04:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:04:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:04:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:04:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081235m	[env.py: 870]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:04:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99142991  1.29990578  0.08123534] yaw=-118.6deg	[env.py: 1019]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7864482   0.38040255  0.08123534] yaw=185.1deg	[env.py: 1019]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94093507  1.14409377  0.08123534] yaw=-151.0deg	[env.py: 1019]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:04:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.5ms	[env.py: 1075]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.300, 0.081)	[env.py: 1079]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.6 deg	[env.py: 1082]
+05/12 01:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:04:49 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:04:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:04:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:04:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:04:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:04:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.625s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 01:04:52 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 01:04:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:04:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:04:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:04:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:04:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:04:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076960m	[env.py: 870]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:04:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60710543  0.39763094  0.07695971] yaw=213.6deg	[env.py: 1019]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9400324   0.59485165  0.07695971] yaw=-159.4deg	[env.py: 1019]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0463697   0.84865626  0.07695971] yaw=-147.3deg	[env.py: 1019]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:04:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.0ms, total=94.1ms	[env.py: 1075]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.607, 0.398, 0.077)	[env.py: 1079]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 213.6 deg	[env.py: 1082]
+05/12 01:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:04:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:04:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:04:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:04:53 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]
+05/12 01:04:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:04:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:04:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:04:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.776[m] 88.990[deg]	[grasp_sample.py: 539]
+05/12 01:04:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:04:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:04:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:04:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:04:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:05:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:05:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:05:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:05:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:05:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:05:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:05:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:05:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:05:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:05:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.26s (batch: 4.29s, save: 10.98s)	[pipeline.py: 300]
+05/12 01:05:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:05:26 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.99s:
+  episode_total: mean=136.63s, total=273.25s, count=2, min=97804.8ms, max=175450.1ms
+  sensor_polling: mean=405.8ms, total=198.83s, count=490, min=367.2ms, max=762.4ms
+  physics_step: mean=25.1ms, total=12.30s, count=490, min=17.0ms, max=35.9ms
+  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.7ms, max=10976.7ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4286.6ms, max=4286.6ms
+  task_sampling: mean=493.8ms, total=987.7ms, count=2, min=455.2ms, max=532.5ms
+  task_specific_sample: mean=490.5ms, total=980.9ms, count=2, min=452.2ms, max=528.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=456.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:05:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:05:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:05:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:05:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:05:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:05:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:05:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092710m	[env.py: 870]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:05:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75640327  0.24551684  0.09271043] yaw=186.0deg	[env.py: 1019]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90381804  0.59357996  0.09271043] yaw=-182.5deg	[env.py: 1019]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:05:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.2ms, total=221.2ms	[env.py: 1075]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.246, 0.093)	[env.py: 1079]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.0 deg	[env.py: 1082]
+05/12 01:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:05:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:05:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:05:28 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:05:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:05:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:05:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:05:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:05:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.055s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:05:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 85.187[deg]	[grasp_sample.py: 539]
+05/12 01:05:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:05:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:05:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:05:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:06:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:06:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:06:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:06:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:06:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:03 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:06:03 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.159[m] 2.685[deg]	[grasp_sample.py: 539]
+05/12 01:06:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:06:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:06:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:06:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:06:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:06:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:06:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:06:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:06:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:06:32 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.476s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 01:06:32 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 01:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:06:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:06:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:06:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:06:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021543m	[env.py: 870]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82366959  1.00084105  0.02154265] yaw=-188.3deg	[env.py: 1019]
+05/12 01:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85274011  0.75214127  0.02154265] yaw=-174.1deg	[env.py: 1019]
+05/12 01:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:06:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=276.8ms, total=276.9ms	[env.py: 1075]
+05/12 01:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 1.001, 0.022)	[env.py: 1079]
+05/12 01:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.3 deg	[env.py: 1082]
+05/12 01:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/12 01:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:06:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:06:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:06:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:06:35 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]
+05/12 01:06:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:06:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:06:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:06:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.721[m] 91.726[deg]	[grasp_sample.py: 539]
+05/12 01:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:06:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:06:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:06:38 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 01:06:38 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.63s:
+  episode_total: mean=148.40s, total=148.40s, count=1, min=148395.8ms, max=148395.8ms
+  sensor_polling: mean=408.8ms, total=122.65s, count=300, min=384.1ms, max=883.9ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=15.8ms, max=32.4ms
+  task_sampling: mean=630.3ms, total=630.3ms, count=1, min=630.3ms, max=630.3ms
+  task_specific_sample: mean=626.4ms, total=626.4ms, count=1, min=626.4ms, max=626.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=501.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:06:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:06:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:06:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:06:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:06:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:06:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:06:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049762m	[env.py: 870]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:06:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97011284  0.72556494  0.04976175] yaw=-162.0deg	[env.py: 1019]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98498659  0.84664953  0.04976175] yaw=-118.0deg	[env.py: 1019]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86718889  0.19538336  0.04976175] yaw=150.0deg	[env.py: 1019]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:06:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.6ms, total=118.7ms	[env.py: 1075]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.726, 0.050)	[env.py: 1079]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
+05/12 01:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:06:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:06:40 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:06:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:06:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:06:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:06:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:06:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:06:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 83.657[deg]	[grasp_sample.py: 539]
+05/12 01:06:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:06:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:06:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:08 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:07:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:07:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:07:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 01:07:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:07:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:07:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.49s (batch: 4.18s, save: 11.32s)	[pipeline.py: 300]
+05/12 01:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:48 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.78s:
+  episode_total: mean=89.16s, total=178.33s, count=2, min=3265.8ms, max=175061.1ms
+  sensor_polling: mean=406.6ms, total=121.98s, count=300, min=366.5ms, max=717.2ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11315.6ms, max=11315.6ms
+  physics_step: mean=24.5ms, total=7.36s, count=300, min=17.4ms, max=33.7ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4175.4ms, max=4175.4ms
+  task_sampling: mean=388.5ms, total=777.0ms, count=2, min=337.2ms, max=439.8ms
+  task_specific_sample: mean=384.4ms, total=768.8ms, count=2, min=333.1ms, max=435.7ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=481.8us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:07:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:07:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:07:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:07:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:07:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:07:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:07:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020351m	[env.py: 870]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:07:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:07:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89269526  0.37776071  0.02035063] yaw=188.1deg	[env.py: 1019]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:07:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94764674  0.10962234  0.02035063] yaw=180.8deg	[env.py: 1019]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8750269   0.05133861  0.02035063] yaw=138.2deg	[env.py: 1019]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:07:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.7ms, total=129.8ms	[env.py: 1075]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.378, 0.020)	[env.py: 1079]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.1 deg	[env.py: 1082]
+05/12 01:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:07:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:07:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:07:50 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:07:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:07:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:07:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:07:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:07:51 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.496[deg]	[grasp_sample.py: 539]
+05/12 01:07:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:07:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:07:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:07:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 87.410[deg]	[grasp_sample.py: 539]
+05/12 01:07:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:07:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:07:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:07:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:08:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:08:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:08:07 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]
+05/12 01:08:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:08:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:08:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.843s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:08:08 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.098[m] 0.479[deg]	[grasp_sample.py: 539]
+05/12 01:08:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:08:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:08:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:08:09 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:08:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:08:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:08:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:08:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:08:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:08:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:08:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:08:47 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:08:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:08:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:08:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.91s (batch: 4.03s, save: 10.88s)	[pipeline.py: 300]
+05/12 01:08:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
+  episode_total: mean=202.45s, total=202.45s, count=1, min=202447.5ms, max=202447.5ms
+  sensor_polling: mean=417.2ms, total=125.15s, count=300, min=374.6ms, max=783.0ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10883.1ms, max=10883.1ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=15.2ms, max=36.2ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4027.7ms, max=4027.7ms
+  task_sampling: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms
+  task_specific_sample: mean=518.5ms, total=518.5ms, count=1, min=518.5ms, max=518.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=452.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:08:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:08:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:08:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:08:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:08:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:08:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:08:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038951m	[env.py: 870]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:08:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.649912    0.71328897  0.03895109] yaw=-157.9deg	[env.py: 1019]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93482235  1.09816234  0.03895109] yaw=-161.6deg	[env.py: 1019]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80034547  0.60897894  0.03895109] yaw=-182.4deg	[env.py: 1019]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:08:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.2ms, total=168.3ms	[env.py: 1075]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.713, 0.039)	[env.py: 1079]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
+05/12 01:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:08:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:08:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:08:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:08:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 84.083[deg]	[grasp_sample.py: 539]
+05/12 01:08:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:08:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:08:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:08:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:09:16 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:09:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:09:16 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/12 01:09:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:09:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:09:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:09:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:09:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:09:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:09:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:09:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.10s (batch: 3.92s, save: 10.18s)	[pipeline.py: 300]
+05/12 01:09:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.800s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:09:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.230[deg]	[grasp_sample.py: 539]
+05/12 01:09:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:09:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.37s:
+  episode_total: mean=170.64s, total=170.64s, count=1, min=170641.7ms, max=170641.7ms
+  sensor_polling: mean=413.4ms, total=116.98s, count=283, min=388.6ms, max=852.5ms
+  save_trajectories: mean=10.18s, total=10.18s, count=1, min=10181.8ms, max=10181.8ms
+  physics_step: mean=24.1ms, total=6.81s, count=283, min=16.7ms, max=37.2ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.8ms, max=3915.8ms
+  task_sampling: mean=371.7ms, total=371.7ms, count=1, min=371.7ms, max=371.7ms
+  task_specific_sample: mean=368.3ms, total=368.3ms, count=1, min=368.3ms, max=368.3ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=440.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:09:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:09:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:09:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:09:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:09:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.41s (batch: 4.61s, save: 10.80s)	[pipeline.py: 300]
+05/12 01:09:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:09:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:09:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:09:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:09:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:09:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:09:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020636m	[env.py: 870]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:09:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68694604  0.13286411  0.02063628] yaw=176.7deg	[env.py: 1019]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84436314  0.1590125   0.02063628] yaw=169.5deg	[env.py: 1019]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:09:32 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.98s:
+  episode_total: mean=159.55s, total=319.09s, count=2, min=141534.8ms, max=177558.5ms
+  sensor_polling: mean=398.6ms, total=234.37s, count=588, min=362.9ms, max=799.1ms
+  physics_step: mean=24.3ms, total=14.32s, count=588, min=17.8ms, max=62.2ms
+  save_trajectories: mean=10.80s, total=10.80s, count=1, min=10802.6ms, max=10802.6ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4606.6ms, max=4606.6ms
+  task_sampling: mean=491.8ms, total=983.6ms, count=2, min=439.9ms, max=543.7ms
+  task_specific_sample: mean=487.4ms, total=974.8ms, count=2, min=435.7ms, max=539.1ms
+  scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.4ms, max=2.8ms
+  mj_forward_sync: mean=536.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.0529405   1.23978887  0.02063628] yaw=-116.1deg	[env.py: 1019]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:09:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.7ms	[env.py: 1075]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.133, 0.021)	[env.py: 1079]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg	[env.py: 1082]
+05/12 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:09:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:09:32 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:09:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:09:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:09:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:09:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:09:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:09:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:09:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:09:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:09:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:09:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:09:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035966m	[env.py: 870]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:09:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73651204  0.95857228  0.03596635] yaw=-116.4deg	[env.py: 1019]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11194736  0.99259302  0.03596635] yaw=-121.6deg	[env.py: 1019]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75925652  0.85292004  0.03596635] yaw=-129.6deg	[env.py: 1019]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:09:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=135.1ms, total=135.2ms	[env.py: 1075]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.959, 0.036)	[env.py: 1079]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.4 deg	[env.py: 1082]
+05/12 01:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:09:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:09:34 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:09:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:09:34 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]
+05/12 01:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:09:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:09:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.633[m] 85.412[deg]	[grasp_sample.py: 539]
+05/12 01:09:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:09:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:09:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:09:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:09:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:09:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.772[m] 99.756[deg]	[grasp_sample.py: 539]
+05/12 01:09:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:09:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:09:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:09:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:09:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:09:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:09:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:09:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:09:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:09:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:10:14 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:10:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:10:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:10:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 01:10:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:10:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:10:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:10:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:10:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:10:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:10:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:10:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 17.36s (batch: 4.40s, save: 12.96s)	[pipeline.py: 300]
+05/12 01:10:56 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.48s:
+  episode_total: mean=186.80s, total=186.80s, count=1, min=186802.1ms, max=186802.1ms
+  sensor_polling: mean=405.4ms, total=121.61s, count=300, min=369.0ms, max=732.4ms
+  save_trajectories: mean=12.96s, total=12.96s, count=1, min=12960.4ms, max=12960.4ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=15.1ms, max=33.5ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.1ms, max=4397.1ms
+  task_sampling: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  task_specific_sample: mean=473.2ms, total=473.2ms, count=1, min=473.2ms, max=473.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=510.7us, 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]
+05/12 01:10:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:10:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:10:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:10:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:10:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:10:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:10:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021268m	[env.py: 870]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:10:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15862648  1.11428322  0.02126831] yaw=-149.0deg	[env.py: 1019]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79601364  0.76597396  0.02126831] yaw=-171.6deg	[env.py: 1019]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97183472  1.00719462  0.02126831] yaw=-156.0deg	[env.py: 1019]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:10:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.4ms	[env.py: 1075]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.114, 0.021)	[env.py: 1079]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
+05/12 01:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:10:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:10:59 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:10:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:10:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:10:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:10:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:10:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:11:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:11:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 79.963[deg]	[grasp_sample.py: 539]
+05/12 01:11:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:11:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:11:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:11:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:11:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:11:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:11:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:11:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:11:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:11:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:11:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:11:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.24s (batch: 4.30s, save: 10.94s)	[pipeline.py: 300]
+05/12 01:11:47 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.47s:
+  episode_total: mean=174.92s, total=174.92s, count=1, min=174922.4ms, max=174922.4ms
+  sensor_polling: mean=401.9ms, total=120.57s, count=300, min=366.3ms, max=753.4ms
+  save_trajectories: mean=10.94s, total=10.94s, count=1, min=10935.8ms, max=10935.8ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.1ms, max=31.7ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.0ms, max=4300.0ms
+  task_sampling: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
+  task_specific_sample: mean=467.7ms, total=467.7ms, count=1, min=467.7ms, max=467.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=461.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:11:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:11:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:11:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:11:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:11:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:11:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:11:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022722m	[env.py: 870]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:11:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79473547  0.70893769  0.02272173] yaw=-185.8deg	[env.py: 1019]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.722059    0.79019439  0.02272173] yaw=-142.4deg	[env.py: 1019]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81878926  0.91775361  0.02272173] yaw=-130.9deg	[env.py: 1019]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:11:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.0ms, total=99.0ms	[env.py: 1075]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.709, 0.023)	[env.py: 1079]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.8 deg	[env.py: 1082]
+05/12 01:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:11:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:11:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:11:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:11:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:11:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:11:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:11:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:11:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:11:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:11:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.540[m] 93.334[deg]	[grasp_sample.py: 539]
+05/12 01:11:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:11:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:11:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:11:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:11:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:11:53 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:12:15 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:12:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:12:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:12:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:12:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:12:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:12:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:12:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.01s (batch: 4.65s, save: 10.36s)	[pipeline.py: 300]
+05/12 01:12:30 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
+  episode_total: mean=176.73s, total=176.73s, count=1, min=176733.1ms, max=176733.1ms
+  sensor_polling: mean=407.2ms, total=122.17s, count=300, min=360.7ms, max=818.5ms
+  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10359.7ms, max=10359.7ms
+  physics_step: mean=24.6ms, total=7.39s, count=300, min=21.1ms, max=40.3ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4647.6ms, max=4647.6ms
+  task_sampling: mean=414.9ms, total=414.9ms, count=1, min=414.9ms, max=414.9ms
+  task_specific_sample: mean=411.2ms, total=411.2ms, count=1, min=411.2ms, max=411.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=453.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/12 01:12:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:12:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:12:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:12:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:12:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:12:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:12:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067881m	[env.py: 870]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:12:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95896034  1.09847853  0.06788088] yaw=-116.5deg	[env.py: 1019]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84318384  0.0485738   0.06788088] yaw=161.1deg	[env.py: 1019]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:12:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.6ms, total=258.7ms	[env.py: 1075]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 1.098, 0.068)	[env.py: 1079]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.5 deg	[env.py: 1082]
+05/12 01:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:12:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:12:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:12:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:12:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:12:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:12:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:12:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:12:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:12:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.07s (batch: 4.14s, save: 10.93s)	[pipeline.py: 300]
+05/12 01:12:34 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.62s:
+  episode_total: mean=181.93s, total=181.93s, count=1, min=181932.5ms, max=181932.5ms
+  sensor_polling: mean=425.9ms, total=127.77s, count=300, min=395.7ms, max=953.3ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10927.6ms, max=10927.6ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=19.0ms, max=36.4ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.3ms, max=4142.3ms
+  task_sampling: mean=624.2ms, total=624.2ms, count=1, min=624.2ms, max=624.2ms
+  task_specific_sample: mean=619.2ms, total=619.2ms, count=1, min=619.2ms, max=619.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=456.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=100.7us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:12:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:12:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:12:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:12:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:12:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:12:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:12:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001373m	[env.py: 870]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:12:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89890154  1.06079878  0.00137315] yaw=-182.0deg	[env.py: 1019]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:12:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:12:35 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.592[m] 85.652[deg]	[grasp_sample.py: 539]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:12:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=340.1ms, total=340.2ms	[env.py: 1075]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 1.061, 0.001)	[env.py: 1079]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.0 deg	[env.py: 1082]
+05/12 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:12:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:12:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:12:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:12:36 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]
+05/12 01:12:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:12:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:12:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:12:37 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:12:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:12:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.680[m] 78.672[deg]	[grasp_sample.py: 539]
+05/12 01:12:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:12:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:12:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:12:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:12:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:12:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:12:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:12:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:12:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029762m	[env.py: 870]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:12:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93291661  0.75951072  0.02976232] yaw=-128.5deg	[env.py: 1019]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77321421  0.67784489  0.02976232] yaw=-136.0deg	[env.py: 1019]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04136398  1.25514894  0.02976232] yaw=-126.1deg	[env.py: 1019]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:12:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.4ms, total=185.5ms	[env.py: 1075]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.760, 0.030)	[env.py: 1079]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg	[env.py: 1082]
+05/12 01:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:12:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:12:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:12:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:12:39 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:12:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:12:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:12:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:12:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:12:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.092s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:12:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.472[m] 93.176[deg]	[grasp_sample.py: 539]
+05/12 01:12:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:12:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:12:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:12:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:12:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:12:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:12:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:12:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:12:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:13:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:13:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.812[deg]	[grasp_sample.py: 539]
+05/12 01:13:02 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:13:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:13:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:13:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:13:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049114m	[env.py: 870]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84692639  0.19256087  0.04911405] yaw=179.0deg	[env.py: 1019]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87061659  0.7559107   0.04911405] yaw=-192.5deg	[env.py: 1019]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78237981  0.19487154  0.04911405] yaw=188.6deg	[env.py: 1019]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.3ms, total=124.4ms	[env.py: 1075]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.193, 0.049)	[env.py: 1079]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.0 deg	[env.py: 1082]
+05/12 01:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:13:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:13:05 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:13:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:13:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:13:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.522[m] 98.852[deg]	[grasp_sample.py: 539]
+05/12 01:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:13:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:13:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:13:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:13:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:13:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:13:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:13:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:13:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:13:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:13:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:14:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:14:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:14:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:14:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:14:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:14:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:14:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:14:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.65s (batch: 4.02s, save: 11.64s)	[pipeline.py: 300]
+05/12 01:14:44 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.41s:
+  episode_total: mean=175.56s, total=175.56s, count=1, min=175556.0ms, max=175556.0ms
+  sensor_polling: mean=401.8ms, total=120.55s, count=300, min=370.1ms, max=722.7ms
+  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11636.5ms, max=11636.5ms
+  physics_step: mean=25.7ms, total=7.72s, count=300, min=16.8ms, max=45.1ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4015.0ms, max=4015.0ms
+  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
+  task_specific_sample: mean=408.5ms, total=408.5ms, count=1, min=408.5ms, max=408.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:14:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:14:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:14:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:14:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:14:45 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: 256]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046110m	[env.py: 870]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:14:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6929306   0.23788064  0.04611045] yaw=169.5deg	[env.py: 1019]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85219324  0.05979401  0.04611045] yaw=168.4deg	[env.py: 1019]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85395257  0.37931158  0.04611045] yaw=163.4deg	[env.py: 1019]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:14:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.8ms	[env.py: 1075]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.238, 0.046)	[env.py: 1079]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
+05/12 01:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:14:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:14:46 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:14:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:14:46 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]
+05/12 01:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:14:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 92.735[deg]	[grasp_sample.py: 539]
+05/12 01:14:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:14:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:14:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:51 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:15:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:15:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:15:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:15:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:15:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:15:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:15:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.139[deg]	[grasp_sample.py: 539]
+05/12 01:15:10 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:15:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:15:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:15:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:15:12 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: 256]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058997m	[env.py: 870]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.77181577  0.17985225  0.05899725] yaw=126.7deg	[env.py: 1019]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.4ms, total=213.4ms	[env.py: 1075]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.180, 0.059)	[env.py: 1079]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 126.7 deg	[env.py: 1082]
+05/12 01:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:15:13 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:15:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:15:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:15:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:15:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:15:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.155s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:15:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.632[m] 93.801[deg]	[grasp_sample.py: 539]
+05/12 01:15:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:15:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:15:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:15:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:15:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:15:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:15:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:15:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:15:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:15:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:15:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:15:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:15:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.66s (batch: 4.71s, save: 10.95s)	[pipeline.py: 300]
+05/12 01:15:32 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.04s:
+  episode_total: mean=89.32s, total=178.65s, count=2, min=4837.3ms, max=173812.2ms
+  sensor_polling: mean=401.9ms, total=120.58s, count=300, min=375.6ms, max=736.5ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10951.3ms, max=10951.3ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=21.1ms, max=33.8ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4710.8ms, max=4710.8ms
+  task_sampling: mean=519.2ms, total=1.04s, count=2, min=456.5ms, max=581.8ms
+  task_specific_sample: mean=515.4ms, total=1.03s, count=2, min=452.8ms, max=577.9ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.8ms, max=2.5ms
+  mj_forward_sync: mean=449.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:15:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:15:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069929m	[env.py: 870]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85722902  1.04277601  0.06992924] yaw=-123.3deg	[env.py: 1019]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76299106  0.0124872   0.06992924] yaw=169.6deg	[env.py: 1019]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62467119  0.60394962  0.06992924] yaw=-204.7deg	[env.py: 1019]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.0ms	[env.py: 1075]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 1.043, 0.070)	[env.py: 1079]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.3 deg	[env.py: 1082]
+05/12 01:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:15:34 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:15:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:15:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:15:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:15:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.99s (batch: 3.56s, save: 11.43s)	[pipeline.py: 300]
+05/12 01:15:36 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.66s:
+  episode_total: mean=180.85s, total=180.85s, count=1, min=180851.4ms, max=180851.4ms
+  sensor_polling: mean=400.4ms, total=120.11s, count=300, min=376.3ms, max=780.7ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11428.0ms, max=11428.0ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=21.4ms, max=30.6ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3561.9ms, max=3561.9ms
+  task_sampling: mean=657.9ms, total=657.9ms, count=1, min=657.9ms, max=657.9ms
+  task_specific_sample: mean=653.7ms, total=653.7ms, count=1, min=653.7ms, max=653.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:15:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:15:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.673[m] 101.150[deg]	[grasp_sample.py: 539]
+05/12 01:15:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:15:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:15:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:15:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:15:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:15:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027634m	[env.py: 870]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:15:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16735221  1.03540508  0.02763421] yaw=-145.9deg	[env.py: 1019]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98322216  1.05679631  0.02763421] yaw=-133.8deg	[env.py: 1019]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8793749   0.2436174   0.02763421] yaw=169.7deg	[env.py: 1019]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:15:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.1ms	[env.py: 1075]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.167, 1.035, 0.028)	[env.py: 1079]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/12 01:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:38 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:15:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:15:38 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:15:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:15:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:15:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:15:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:15:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:15:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 86.960[deg]	[grasp_sample.py: 539]
+05/12 01:15:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:15:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:15:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:15:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:15:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:15:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:15:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:15:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:15:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037795m	[env.py: 870]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:15:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89382458  0.4561898   0.03779548] yaw=215.6deg	[env.py: 1019]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90526886  1.02046156  0.03779548] yaw=-176.8deg	[env.py: 1019]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88205297  0.97592119  0.03779548] yaw=-155.0deg	[env.py: 1019]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:15:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.9ms, total=125.0ms	[env.py: 1075]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.456, 0.038)	[env.py: 1079]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 215.6 deg	[env.py: 1082]
+05/12 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:15:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:15:40 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:15:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:15:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:15:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:15:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:15:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:15:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 93.279[deg]	[grasp_sample.py: 539]
+05/12 01:15:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:15:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:15:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:15:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:15:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:15:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:16:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:16:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:16:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:17:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:17:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:17:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:03 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:17:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.794s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.434[deg]	[grasp_sample.py: 539]
+05/12 01:17:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:17:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:17:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:17:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:17:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:17:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:28 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.338[deg]	[grasp_sample.py: 539]
+05/12 01:17:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:17:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:17:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:17:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:17:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:17:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:17:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:36 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:36 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.728[deg]	[grasp_sample.py: 539]
+05/12 01:17:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:17:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:17:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:17:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:17:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:17:44 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]
+05/12 01:17:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:17:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:17:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.36s (batch: 5.26s, save: 11.09s)	[pipeline.py: 300]
+05/12 01:17:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 2.568[deg]	[grasp_sample.py: 539]
+05/12 01:17:48 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.45s:
+  episode_total: mean=182.37s, total=182.37s, count=1, min=182370.3ms, max=182370.3ms
+  sensor_polling: mean=414.1ms, total=124.22s, count=300, min=366.3ms, max=768.6ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11094.8ms, max=11094.8ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=21.7ms, max=60.1ms
+  save_batch_prep: mean=5.26s, total=5.26s, count=1, min=5261.4ms, max=5261.4ms
+  task_sampling: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
+  task_specific_sample: mean=448.1ms, total=448.1ms, count=1, min=448.1ms, max=448.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=465.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:17:48 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:17:48 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 01:17:48 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.63s:
+  episode_total: mean=135.29s, total=405.86s, count=3, min=124109.3ms, max=156356.7ms
+  sensor_polling: mean=409.9ms, total=325.86s, count=795, min=367.2ms, max=755.5ms
+  physics_step: mean=23.9ms, total=19.02s, count=795, min=15.4ms, max=34.1ms
+  task_sampling: mean=544.3ms, total=1.63s, count=3, min=522.8ms, max=559.9ms
+  task_specific_sample: mean=538.9ms, total=1.62s, count=3, min=515.1ms, max=555.8ms
+  scene_randomize: mean=2.9ms, total=8.7ms, count=3, min=1.5ms, max=4.3ms
+  mj_forward_sync: mean=501.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=20.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:17:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:17:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:17:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:17:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:17:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:17:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:17:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033628m	[env.py: 870]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:17:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65657054  0.67069464  0.03362791] yaw=-131.8deg	[env.py: 1019]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86947474  0.44180841  0.03362791] yaw=182.9deg	[env.py: 1019]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19414946  1.08791937  0.03362791] yaw=-102.1deg	[env.py: 1019]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:17:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.657, 0.671, 0.034)	[env.py: 1079]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:17:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:17:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:17:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:17:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:17:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:17:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:17:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088593m	[env.py: 870]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:17:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13492762  1.11407113  0.08859336] yaw=-159.8deg	[env.py: 1019]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:17:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:17:50 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78384677  0.30855731  0.08859336] yaw=139.2deg	[env.py: 1019]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68943195  0.2295807   0.08859336] yaw=154.4deg	[env.py: 1019]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:17:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.0ms, total=178.0ms	[env.py: 1075]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.114, 0.089)	[env.py: 1079]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
+05/12 01:17:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:17:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:17:50 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:17:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:17:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:17:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:17:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:17:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:17:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:17:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077042m	[env.py: 870]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:17:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02461911  0.99462292  0.07704161] yaw=-154.1deg	[env.py: 1019]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66470406  0.17292321  0.07704161] yaw=138.5deg	[env.py: 1019]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71879884  0.70555135  0.07704161] yaw=-151.4deg	[env.py: 1019]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:17:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=181.3ms, total=181.4ms	[env.py: 1075]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 0.995, 0.077)	[env.py: 1079]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
+05/12 01:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:17:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 82.963[deg]	[grasp_sample.py: 539]
+05/12 01:17:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:17:51 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:17:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:17:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:17:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:17:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:17:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:17:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:17:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 78.213[deg]	[grasp_sample.py: 539]
+05/12 01:17:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:17:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:17:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:17:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.954s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:17:59 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.705[m] 83.715[deg]	[grasp_sample.py: 539]
+05/12 01:17:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:18:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:18:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:18:00 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:18:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:18:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:18:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:18:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:18:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:18:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:18:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:18:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:18:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:18:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.38s (batch: 4.55s, save: 10.83s)	[pipeline.py: 300]
+05/12 01:18:42 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.18s:
+  episode_total: mean=92.85s, total=185.70s, count=2, min=3677.2ms, max=182025.7ms
+  sensor_polling: mean=395.2ms, total=118.56s, count=300, min=365.8ms, max=744.9ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10832.7ms, max=10832.7ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=15.2ms, max=35.7ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4548.5ms, max=4548.5ms
+  task_sampling: mean=589.2ms, total=1.18s, count=2, min=515.7ms, max=662.7ms
+  task_specific_sample: mean=584.4ms, total=1.17s, count=2, min=511.9ms, max=656.8ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.0ms, max=2.4ms
+  mj_forward_sync: mean=460.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.8us, 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]
+05/12 01:18:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:18:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:18:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:18:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:18:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:18:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:18:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009534m	[env.py: 870]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:18:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67772458  0.59894712  0.00953392] yaw=-211.5deg	[env.py: 1019]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65949237  0.69607433  0.00953392] yaw=-162.4deg	[env.py: 1019]
+05/12 01:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:18:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.8ms	[env.py: 1075]
+05/12 01:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.599, 0.010)	[env.py: 1079]
+05/12 01:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -211.5 deg	[env.py: 1082]
+05/12 01:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/12 01:18:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:18:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:18:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:18:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:18:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:18:44 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]
+05/12 01:18:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:18:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:18:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:18:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.605s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:18:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.718[m] 95.839[deg]	[grasp_sample.py: 539]
+05/12 01:18:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:18:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:18:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:18:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:18:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:19:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:19:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:19:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:19:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:19:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:19:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:19:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:19:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:19:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.685[deg]	[grasp_sample.py: 539]
+05/12 01:19:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:20:00 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:20:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:20:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:20:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:20:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:20:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:20:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:20:01 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: 256]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077762m	[env.py: 870]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:20:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99112693  1.03404295  0.07776217] yaw=-157.0deg	[env.py: 1019]
+05/12 01:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:20:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=301.7ms, total=301.7ms	[env.py: 1075]
+05/12 01:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 1.034, 0.078)	[env.py: 1079]
+05/12 01:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg	[env.py: 1082]
+05/12 01:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/12 01:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:20:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:20:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:20:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:20:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:20:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:20:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:20:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.017s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:20:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 85.969[deg]	[grasp_sample.py: 539]
+05/12 01:20:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:20:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:20:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:20:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:20:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:20:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:20:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:20:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:20:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:20:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:20:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.646[deg]	[grasp_sample.py: 539]
+05/12 01:20:12 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:20:12 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:20:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:20:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:20:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:20:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:20:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:20:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099913m	[env.py: 870]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:20:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91510026  1.19322403  0.09991338] yaw=-138.6deg	[env.py: 1019]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71641806  0.54738598  0.09991338] yaw=-175.2deg	[env.py: 1019]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85374761  0.7841298   0.09991338] yaw=-128.5deg	[env.py: 1019]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:20:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms	[env.py: 1075]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 1.193, 0.100)	[env.py: 1079]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/12 01:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:20:14 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:20:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:20:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:20:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:20:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:20:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.947s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:20:19 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.666[m] 88.748[deg]	[grasp_sample.py: 539]
+05/12 01:20:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:20:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:20:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:20:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061495m	[env.py: 870]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12004854  1.21485079  0.06149527] yaw=-128.2deg	[env.py: 1019]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96122016  0.34942584  0.06149527] yaw=137.6deg	[env.py: 1019]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87129403  1.02688386  0.06149527] yaw=-136.5deg	[env.py: 1019]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=322.8ms, total=322.8ms	[env.py: 1075]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 1.215, 0.061)	[env.py: 1079]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.2 deg	[env.py: 1082]
+05/12 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:20:23 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:20:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:20:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:20:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:20:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:20:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:20:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 91.033[deg]	[grasp_sample.py: 539]
+05/12 01:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:20:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:20:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:20:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:20:38 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:20:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:20:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:20:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:20:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:20:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:20:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.61s (batch: 3.81s, save: 10.79s)	[pipeline.py: 300]
+05/12 01:20:53 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.55s:
+  episode_total: mean=183.39s, total=183.39s, count=1, min=183391.1ms, max=183391.1ms
+  sensor_polling: mean=411.1ms, total=123.34s, count=300, min=366.6ms, max=872.3ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10792.9ms, max=10792.9ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=19.8ms, max=67.2ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3814.3ms, max=3814.3ms
+  task_sampling: mean=552.7ms, total=552.7ms, count=1, min=552.7ms, max=552.7ms
+  task_specific_sample: mean=546.3ms, total=546.3ms, count=1, min=546.3ms, max=546.3ms
+  scene_randomize: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  mj_forward_sync: mean=450.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:20:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:20:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:20:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:20:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:20:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:20:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:20:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084687m	[env.py: 870]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:20:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97142659  0.26229185  0.0846874 ] yaw=171.7deg	[env.py: 1019]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76984492  0.87506846  0.0846874 ] yaw=-185.9deg	[env.py: 1019]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71788304  0.40300445  0.0846874 ] yaw=140.0deg	[env.py: 1019]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.2ms	[env.py: 1075]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.262, 0.085)	[env.py: 1079]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/12 01:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:20:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:20:55 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:20:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:20:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:20:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:20:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:20:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:20:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.357[m] 92.294[deg]	[grasp_sample.py: 539]
+05/12 01:20:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:20:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:20:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:20:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:20:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:20:58 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:21:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:21:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:21:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:21:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:21:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:21:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:21:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:21:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:21:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:21:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:21:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:21:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.89s (batch: 5.06s, save: 10.83s)	[pipeline.py: 300]
+05/12 01:21:40 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
+  episode_total: mean=176.82s, total=176.82s, count=1, min=176821.2ms, max=176821.2ms
+  sensor_polling: mean=398.9ms, total=119.67s, count=300, min=379.2ms, max=734.7ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10827.7ms, max=10827.7ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=16.8ms, max=40.6ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5063.3ms, max=5063.3ms
+  task_sampling: mean=527.3ms, total=527.3ms, count=1, min=527.3ms, max=527.3ms
+  task_specific_sample: mean=522.9ms, total=522.9ms, count=1, min=522.9ms, max=522.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=465.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:21:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:21:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:21:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:21:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:21:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:21:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:21:42 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: 256]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045651m	[env.py: 870]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:21:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13893635  1.10749044  0.04565094] yaw=-95.7deg	[env.py: 1019]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9867826   1.24416897  0.04565094] yaw=-127.4deg	[env.py: 1019]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62711667  0.37599705  0.04565094] yaw=136.1deg	[env.py: 1019]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.139, 1.107, 0.046)	[env.py: 1079]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.7 deg	[env.py: 1082]
+05/12 01:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:21:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:21:42 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:21:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:21:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:21:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:21:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:21:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.305s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:21:52 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.536[m] 107.044[deg]	[grasp_sample.py: 539]
+05/12 01:21:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:21:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:21:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:22:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:22:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:22:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:22:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:22:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 1.768[deg]	[grasp_sample.py: 539]
+05/12 01:22:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:22:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:22:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:22:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:22:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:22:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:22:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.717[deg]	[grasp_sample.py: 539]
+05/12 01:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:21 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:22:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:22:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:22:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:22:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034962m	[env.py: 870]
+05/12 01:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83798286  0.41814429  0.03496186] yaw=197.6deg	[env.py: 1019]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97080079  1.15642128  0.03496186] yaw=-112.9deg	[env.py: 1019]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72429443  0.44125359  0.03496186] yaw=185.6deg	[env.py: 1019]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms	[env.py: 1075]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.418, 0.035)	[env.py: 1079]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.6 deg	[env.py: 1082]
+05/12 01:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/12 01:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:22:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:22:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:22:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:22:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:22:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 82.972[deg]	[grasp_sample.py: 539]
+05/12 01:22:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:22:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:22:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:22:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:22:31 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]
+05/12 01:22:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:22:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:22:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:22:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.354[deg]	[grasp_sample.py: 539]
+05/12 01:22:34 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:22:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:22:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:22:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:22:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:22:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:22:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:22:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:22:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065056m	[env.py: 870]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:22:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85596117  0.27174922  0.06505576] yaw=155.5deg	[env.py: 1019]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76312534  0.46445047  0.06505576] yaw=215.4deg	[env.py: 1019]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:22:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.7ms, total=208.7ms	[env.py: 1075]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.272, 0.065)	[env.py: 1079]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg	[env.py: 1082]
+05/12 01:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:22:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:22:36 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:22:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:22:36 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]
+05/12 01:22:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:22:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:22:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:22:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.480[m] 98.761[deg]	[grasp_sample.py: 539]
+05/12 01:22:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:22:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:22:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:22:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:23:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:23:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:23:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:23:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:23:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:23:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.582s, found feasible grasp: False	[grasp_sample.py: 500]
+05/12 01:23:02 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/12 01:23:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:23:04 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:23:04 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:23:04 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
+05/12 01:23:04 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=4308.51s
+  House averages:
+  episode_total: mean=132.12s, total=2378.24s, count=18, min=231.2ms, max=207802.6ms
+  sensor_polling: mean=397.7ms, total=1670.86s, count=4201, min=358.5ms, max=832.0ms
+  physics_step: mean=23.9ms, total=100.25s, count=4201, min=15.1ms, max=75.6ms
+  save_trajectories: mean=11.54s, total=92.28s, count=8, min=11140.7ms, max=12960.4ms
+  save_batch_prep: mean=4.43s, total=35.46s, count=8, min=4175.4ms, max=4839.6ms
+  task_sampling: mean=750.8ms, total=12.76s, count=17, min=337.2ms, max=4518.2ms
+  task_specific_sample: mean=504.0ms, total=9.07s, count=18, min=224.4ms, max=692.2ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3833.8ms, max=3833.8ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2138.0ms, max=2138.0ms
+  scene_compile: mean=1.53s, total=1.53s, count=1, min=1526.0ms, max=1526.0ms
+  compile_mujoco: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms
+  compile_xml_load: mean=659.4ms, total=659.4ms, count=1, min=659.4ms, max=659.4ms
+  task_sampling_failed: mean=231.1ms, total=231.1ms, count=1, min=231.1ms, max=231.1ms
+  scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms
+  compile_aux_objects: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms
+  compile_aux_policy_objects: mean=62.4ms, total=62.4ms, count=1, min=62.4ms, max=62.4ms
+  scene_asset_install: mean=52.1ms, total=52.1ms, count=1, min=52.1ms, max=52.1ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=4.3ms
+  asset_install_grasps: mean=36.0ms, total=36.0ms, count=1, min=36.0ms, max=36.0ms
+  compile_robot_add: mean=26.5ms, total=26.5ms, count=1, min=26.5ms, max=26.5ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  mj_forward_sync: mean=478.9us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
+  policy_setup: mean=25.3us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 01:23:05 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 01:23:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=4308.51s
+  Worker averages:
+  episode_total: mean=132.12s, total=2378.24s, count=18, min=231.2ms, max=207802.6ms
+  sensor_polling: mean=397.7ms, total=1670.86s, count=4201, min=358.5ms, max=832.0ms
+  physics_step: mean=23.9ms, total=100.25s, count=4201, min=15.1ms, max=75.6ms
+  save_trajectories: mean=11.54s, total=92.28s, count=8, min=11140.7ms, max=12960.4ms
+  save_batch_prep: mean=4.43s, total=35.46s, count=8, min=4175.4ms, max=4839.6ms
+  task_sampling: mean=750.8ms, total=12.76s, count=17, min=337.2ms, max=4518.2ms
+  task_specific_sample: mean=504.0ms, total=9.07s, count=18, min=224.4ms, max=692.2ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3833.8ms, max=3833.8ms
+  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2138.0ms, max=2138.0ms
+  scene_compile: mean=1.53s, total=1.53s, count=1, min=1526.0ms, max=1526.0ms
+  compile_mujoco: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms
+  compile_xml_load: mean=659.4ms, total=659.4ms, count=1, min=659.4ms, max=659.4ms
+  task_sampling_failed: mean=231.1ms, total=231.1ms, count=1, min=231.1ms, max=231.1ms
+  scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms
+  compile_aux_objects: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms
+  compile_aux_policy_objects: mean=62.4ms, total=62.4ms, count=1, min=62.4ms, max=62.4ms
+  scene_asset_install: mean=52.1ms, total=52.1ms, count=1, min=52.1ms, max=52.1ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.1ms, max=4.3ms
+  asset_install_grasps: mean=36.0ms, total=36.0ms, count=1, min=36.0ms, max=36.0ms
+  compile_robot_add: mean=26.5ms, total=26.5ms, count=1, min=26.5ms, max=26.5ms
+  asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms
+  mj_forward_sync: mean=478.9us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
+  policy_setup: mean=25.3us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 01:23:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/12 01:23:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:23:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:23:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:23:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:23:06 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:23:06 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.118[m] 0.891[deg]	[grasp_sample.py: 539]
+05/12 01:23:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:23:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:23:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:23:08 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 01:23:08 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
+05/12 01:23:08 INFO: Success rate: 88.89%	[pipeline.py: 1492]
+05/12 01:23:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:23:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:23:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:23:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:23:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:23:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:23:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:24:05 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:30 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:24:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:24:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:35 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:24:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:24:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:24:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:24:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:24:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:24:41 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.843s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:24:41 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.966[deg]	[grasp_sample.py: 539]
+05/12 01:24:42 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:24:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:24:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:24:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:24:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:24:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:24:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:24:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008831m	[env.py: 870]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:24:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98840553  0.74081667  0.0088306 ] yaw=-162.4deg	[env.py: 1019]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13169365  0.97848187  0.0088306 ] yaw=-138.6deg	[env.py: 1019]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06296897  1.20689325  0.0088306 ] yaw=-104.7deg	[env.py: 1019]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:24:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.1ms	[env.py: 1075]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.741, 0.009)	[env.py: 1079]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
+05/12 01:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:24:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:24:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:24:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:24:44 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]
+05/12 01:24:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:24:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:24:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:24:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 85.398[deg]	[grasp_sample.py: 539]
+05/12 01:24:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:24:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:24:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:24:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.98s (batch: 3.94s, save: 11.05s)	[pipeline.py: 300]
+05/12 01:24:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:24:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:24:45 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
+  episode_total: mean=183.40s, total=183.40s, count=1, min=183403.7ms, max=183403.7ms
+  sensor_polling: mean=408.1ms, total=122.42s, count=300, min=374.5ms, max=748.6ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11046.0ms, max=11046.0ms
+  physics_step: mean=24.1ms, total=7.23s, count=300, min=18.6ms, max=33.5ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.3ms, max=3936.3ms
+  task_sampling: mean=431.0ms, total=431.0ms, count=1, min=431.0ms, max=431.0ms
+  task_specific_sample: mean=426.8ms, total=426.8ms, count=1, min=426.8ms, max=426.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=471.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/12 01:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:24:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:24:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:24:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:24:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067629m	[env.py: 870]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97133807  0.30034714  0.06762896] yaw=156.0deg	[env.py: 1019]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98005349  1.01826294  0.06762896] yaw=-160.8deg	[env.py: 1019]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:24:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.7ms	[env.py: 1075]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.300, 0.068)	[env.py: 1079]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
+05/12 01:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:24:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:24:48 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:24:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:24:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:24:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:24:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:24:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.290[m] 85.399[deg]	[grasp_sample.py: 539]
+05/12 01:24:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:24:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:24:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:24:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:25:01 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:25:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:25:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:25:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:25:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:25:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:25:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:25:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.39s (batch: 3.83s, save: 10.56s)	[pipeline.py: 300]
+05/12 01:25:16 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.08s:
+  episode_total: mean=130.11s, total=260.22s, count=2, min=86700.6ms, max=173516.0ms
+  sensor_polling: mean=404.9ms, total=185.43s, count=458, min=332.8ms, max=754.3ms
+  physics_step: mean=24.1ms, total=11.03s, count=458, min=17.3ms, max=36.2ms
+  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10561.7ms, max=10561.7ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3832.7ms, max=3832.7ms
+  task_sampling: mean=540.1ms, total=1.08s, count=2, min=499.3ms, max=581.0ms
+  task_specific_sample: mean=535.8ms, total=1.07s, count=2, min=496.3ms, max=575.2ms
+  scene_randomize: mean=2.7ms, total=5.5ms, count=2, min=1.1ms, max=4.3ms
+  mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.2us, 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]
+05/12 01:25:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:25:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:25:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:25:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:25:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:25:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:25:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:25:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:25:17 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: 256]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017027m	[env.py: 870]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:25:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76244139  0.49207485  0.01702718] yaw=-150.8deg	[env.py: 1019]
+05/12 01:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90438726  0.17458238  0.01702718] yaw=185.6deg	[env.py: 1019]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15810415  1.14097916  0.01702718] yaw=-125.0deg	[env.py: 1019]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:25:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=342.3ms, total=342.3ms	[env.py: 1075]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.492, 0.017)	[env.py: 1079]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg	[env.py: 1082]
+05/12 01:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/12 01:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:25:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:25:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:25:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:25:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:25:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:25:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:25:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.980s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:25:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 84.993[deg]	[grasp_sample.py: 539]
+05/12 01:25:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:25:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:25:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:25:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:25:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:25:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:26:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:26:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:26:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:26:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:26:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:26:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:26:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.339[deg]	[grasp_sample.py: 539]
+05/12 01:26:04 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:26:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:26:06 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:26:06 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:26:06 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/12 01:26:06 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4563.18s
+  House averages:
+  episode_total: mean=141.99s, total=2555.73s, count=18, min=3677.2ms, max=246850.8ms
+  sensor_polling: mean=403.7ms, total=1718.08s, count=4256, min=360.7ms, max=838.8ms
+  save_trajectories: mean=10.98s, total=109.85s, count=10, min=10359.7ms, max=11680.9ms
+  physics_step: mean=23.9ms, total=101.80s, count=4256, min=14.4ms, max=62.2ms
+  save_batch_prep: mean=4.61s, total=46.10s, count=10, min=3936.3ms, max=5201.5ms
+  task_sampling: mean=735.1ms, total=13.23s, count=18, min=414.9ms, max=4273.5ms
+  task_specific_sample: mean=526.0ms, total=9.47s, count=18, min=411.2ms, max=788.2ms
+  scene_load: mean=3.68s, total=3.68s, count=1, min=3684.1ms, max=3684.1ms
+  scene_env_create: mean=2.12s, total=2.12s, count=1, min=2117.9ms, max=2117.9ms
+  scene_compile: mean=1.38s, total=1.38s, count=1, min=1379.2ms, max=1379.2ms
+  compile_mujoco: mean=739.8ms, total=739.8ms, count=1, min=739.8ms, max=739.8ms
+  compile_xml_load: mean=539.2ms, total=539.2ms, count=1, min=539.2ms, max=539.2ms
+  scene_init: mean=120.9ms, total=120.9ms, count=1, min=120.9ms, max=120.9ms
+  scene_asset_install: mean=65.6ms, total=65.6ms, count=1, min=65.6ms, max=65.6ms
+  compile_aux_objects: mean=64.1ms, total=64.1ms, count=1, min=64.1ms, max=64.1ms
+  compile_aux_policy_objects: mean=64.1ms, total=64.1ms, count=1, min=64.1ms, max=64.1ms
+  asset_install_grasps: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.3ms, max=3.3ms
+  compile_robot_add: mean=26.3ms, total=26.3ms, count=1, min=26.3ms, max=26.3ms
+  asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  mj_forward_sync: mean=488.1us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  policy_setup: mean=24.1us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 01:26:06 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 01:26:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4563.18s
+  Worker averages:
+  episode_total: mean=141.99s, total=2555.73s, count=18, min=3677.2ms, max=246850.8ms
+  sensor_polling: mean=403.7ms, total=1718.08s, count=4256, min=360.7ms, max=838.8ms
+  save_trajectories: mean=10.98s, total=109.85s, count=10, min=10359.7ms, max=11680.9ms
+  physics_step: mean=23.9ms, total=101.80s, count=4256, min=14.4ms, max=62.2ms
+  save_batch_prep: mean=4.61s, total=46.10s, count=10, min=3936.3ms, max=5201.5ms
+  task_sampling: mean=735.1ms, total=13.23s, count=18, min=414.9ms, max=4273.5ms
+  task_specific_sample: mean=526.0ms, total=9.47s, count=18, min=411.2ms, max=788.2ms
+  scene_load: mean=3.68s, total=3.68s, count=1, min=3684.1ms, max=3684.1ms
+  scene_env_create: mean=2.12s, total=2.12s, count=1, min=2117.9ms, max=2117.9ms
+  scene_compile: mean=1.38s, total=1.38s, count=1, min=1379.2ms, max=1379.2ms
+  compile_mujoco: mean=739.8ms, total=739.8ms, count=1, min=739.8ms, max=739.8ms
+  compile_xml_load: mean=539.2ms, total=539.2ms, count=1, min=539.2ms, max=539.2ms
+  scene_init: mean=120.9ms, total=120.9ms, count=1, min=120.9ms, max=120.9ms
+  scene_asset_install: mean=65.6ms, total=65.6ms, count=1, min=65.6ms, max=65.6ms
+  compile_aux_objects: mean=64.1ms, total=64.1ms, count=1, min=64.1ms, max=64.1ms
+  compile_aux_policy_objects: mean=64.1ms, total=64.1ms, count=1, min=64.1ms, max=64.1ms
+  asset_install_grasps: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  scene_randomize: mean=2.4ms, total=44.0ms, count=18, min=1.3ms, max=3.3ms
+  compile_robot_add: mean=26.3ms, total=26.3ms, count=1, min=26.3ms, max=26.3ms
+  asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  mj_forward_sync: mean=488.1us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  policy_setup: mean=24.1us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 01:26:09 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 01:26:09 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/12 01:26:09 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/12 01:26:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:26:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:26:51 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:27:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:27:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:27:17 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/12 01:27:24 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:27:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:27:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:27:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.27s (batch: 3.86s, save: 10.40s)	[pipeline.py: 300]
+05/12 01:27:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.48s:
+  episode_total: mean=141.73s, total=708.64s, count=5, min=125895.6ms, max=168498.2ms
+  sensor_polling: mean=415.5ms, total=553.39s, count=1332, min=383.0ms, max=846.2ms
+  physics_step: mean=23.8ms, total=31.64s, count=1332, min=16.7ms, max=36.0ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10401.7ms, max=10401.7ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3863.7ms, max=3863.7ms
+  task_sampling: mean=496.4ms, total=2.48s, count=5, min=440.2ms, max=607.7ms
+  task_specific_sample: mean=492.4ms, total=2.46s, count=5, min=436.3ms, max=603.2ms
+  scene_randomize: mean=1.8ms, total=9.2ms, count=5, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=459.3us, total=2.3ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:27:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:27:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:27:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:27:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:27:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:27:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:27:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079992m	[env.py: 870]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:27:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88705366  0.5105052   0.07999205] yaw=-156.4deg	[env.py: 1019]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93653757  0.77036119  0.07999205] yaw=-155.0deg	[env.py: 1019]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13709419  1.0716692   0.07999205] yaw=-109.5deg	[env.py: 1019]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:27:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=181.8ms, total=181.9ms	[env.py: 1075]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.511, 0.080)	[env.py: 1079]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
+05/12 01:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:27:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:27:34 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:27:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:27:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:27:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:27:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:27:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:27:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 74.562[deg]	[grasp_sample.py: 539]
+05/12 01:27:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:27:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:27:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:27:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:27:51 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:27:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:27:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:28:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:28:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:28:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.02s (batch: 3.74s, save: 11.28s)	[pipeline.py: 300]
+05/12 01:28:07 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.69s:
+  episode_total: mean=169.41s, total=169.41s, count=1, min=169414.7ms, max=169414.7ms
+  sensor_polling: mean=385.4ms, total=115.61s, count=300, min=363.8ms, max=727.3ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11282.0ms, max=11282.0ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.8ms, max=34.6ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.2ms, max=3740.2ms
+  task_sampling: mean=692.3ms, total=692.3ms, count=1, min=692.3ms, max=692.3ms
+  task_specific_sample: mean=688.2ms, total=688.2ms, count=1, min=688.2ms, max=688.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=459.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:28:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:28:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:28:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:28:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:28:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:28:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:28:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025393m	[env.py: 870]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:28:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82950846  0.27817782  0.02539278] yaw=156.0deg	[env.py: 1019]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:28:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10514595  1.03670052  0.02539278] yaw=-135.0deg	[env.py: 1019]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83186037  0.1405435   0.02539278] yaw=184.9deg	[env.py: 1019]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.2ms	[env.py: 1075]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.278, 0.025)	[env.py: 1079]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
+05/12 01:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:28:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:28:09 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:28:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:28:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:28:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:28:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:28:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:28:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 103.640[deg]	[grasp_sample.py: 539]
+05/12 01:28:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:28:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:28:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:28:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:28:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:28:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:29:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:29:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:29:48 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:30:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:30:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:30:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:30:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:30:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.369[deg]	[grasp_sample.py: 539]
+05/12 01:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:30:06 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:30:06 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:30:06 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/12 01:30:06 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5045.54s
+  House averages:
+  episode_total: mean=155.43s, total=2797.78s, count=18, min=40579.5ms, max=202447.5ms
+  sensor_polling: mean=398.5ms, total=1901.36s, count=4771, min=332.8ms, max=872.3ms
+  save_trajectories: mean=11.32s, total=147.21s, count=13, min=10561.7ms, max=12306.1ms
+  physics_step: mean=24.4ms, total=116.52s, count=4771, min=15.2ms, max=67.2ms
+  save_batch_prep: mean=4.17s, total=54.25s, count=13, min=3740.2ms, max=5261.4ms
+  task_sampling: mean=680.3ms, total=12.25s, count=18, min=412.3ms, max=3485.9ms
+  task_specific_sample: mean=512.0ms, total=9.22s, count=18, min=408.5ms, max=729.2ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2957.7ms, max=2957.7ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1887.3ms, max=1887.3ms
+  scene_compile: mean=894.6ms, total=894.6ms, count=1, min=894.6ms, max=894.6ms
+  compile_mujoco: mean=632.2ms, total=632.2ms, count=1, min=632.2ms, max=632.2ms
+  compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms
+  scene_init: mean=118.6ms, total=118.6ms, count=1, min=118.6ms, max=118.6ms
+  compile_aux_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_policy_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms
+  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.1ms, max=4.8ms
+  asset_install_grasps: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  asset_install_objects: mean=12.0ms, total=12.0ms, count=1, min=12.0ms, max=12.0ms
+  mj_forward_sync: mean=459.7us, total=8.3ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=24.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 01:30:06 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 01:30:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5045.54s
+  Worker averages:
+  episode_total: mean=155.43s, total=2797.78s, count=18, min=40579.5ms, max=202447.5ms
+  sensor_polling: mean=398.5ms, total=1901.36s, count=4771, min=332.8ms, max=872.3ms
+  save_trajectories: mean=11.32s, total=147.21s, count=13, min=10561.7ms, max=12306.1ms
+  physics_step: mean=24.4ms, total=116.52s, count=4771, min=15.2ms, max=67.2ms
+  save_batch_prep: mean=4.17s, total=54.25s, count=13, min=3740.2ms, max=5261.4ms
+  task_sampling: mean=680.3ms, total=12.25s, count=18, min=412.3ms, max=3485.9ms
+  task_specific_sample: mean=512.0ms, total=9.22s, count=18, min=408.5ms, max=729.2ms
+  scene_load: mean=2.96s, total=2.96s, count=1, min=2957.7ms, max=2957.7ms
+  scene_env_create: mean=1.89s, total=1.89s, count=1, min=1887.3ms, max=1887.3ms
+  scene_compile: mean=894.6ms, total=894.6ms, count=1, min=894.6ms, max=894.6ms
+  compile_mujoco: mean=632.2ms, total=632.2ms, count=1, min=632.2ms, max=632.2ms
+  compile_xml_load: mean=186.7ms, total=186.7ms, count=1, min=186.7ms, max=186.7ms
+  scene_init: mean=118.6ms, total=118.6ms, count=1, min=118.6ms, max=118.6ms
+  compile_aux_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_policy_objects: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms
+  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.1ms, max=4.8ms
+  asset_install_grasps: mean=39.7ms, total=39.7ms, count=1, min=39.7ms, max=39.7ms
+  asset_install_objects: mean=12.0ms, total=12.0ms, count=1, min=12.0ms, max=12.0ms
+  mj_forward_sync: mean=459.7us, total=8.3ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=24.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 01:30:09 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 01:30:09 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/12 01:30:09 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/12 01:30:18 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:30:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:30:18 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/12 01:30:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:30:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:30:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 21.71s (batch: 10.28s, save: 11.43s)	[pipeline.py: 300]
+05/12 01:30:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.52s:
+  episode_total: mean=188.07s, total=188.07s, count=1, min=188066.3ms, max=188066.3ms
+  sensor_polling: mean=413.6ms, total=123.66s, count=299, min=389.5ms, max=861.3ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11428.0ms, max=11428.0ms
+  save_batch_prep: mean=10.28s, total=10.28s, count=1, min=10277.5ms, max=10277.5ms
+  physics_step: mean=23.3ms, total=6.98s, count=299, min=16.7ms, max=28.2ms
+  task_sampling: mean=517.1ms, total=517.1ms, count=1, min=517.1ms, max=517.1ms
+  task_specific_sample: mean=513.0ms, total=513.0ms, count=1, min=513.0ms, max=513.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=463.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:30:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:30:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:30:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:30:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:30:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:30:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:30:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000461m	[env.py: 870]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:30:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.79929138e-01  1.41429410e-01  4.61230609e-04] yaw=165.8deg	[env.py: 1019]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01564109e+00  7.92799906e-01  4.61230609e-04] yaw=-136.8deg	[env.py: 1019]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04222934e+00  1.09035327e+00  4.61230609e-04] yaw=-117.4deg	[env.py: 1019]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:30:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.5ms, total=189.6ms	[env.py: 1075]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.141, 0.000)	[env.py: 1079]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
+05/12 01:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:30:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:30:45 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:30:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:30:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:30:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:30:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:30:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.829s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:30:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.674[m] 98.739[deg]	[grasp_sample.py: 539]
+05/12 01:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:30:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:30:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:30:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:31:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:32:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:32:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:33:21 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:33:47 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/12 01:33:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:33:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:34:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:34:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_001	[save_utils.py: 785]
+05/12 01:34:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 16.14s (batch: 4.96s, save: 11.17s)	[pipeline.py: 300]
+05/12 01:34:04 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.60s:
+  episode_total: mean=199.74s, total=199.74s, count=1, min=199738.9ms, max=199738.9ms
+  sensor_polling: mean=437.6ms, total=131.28s, count=300, min=405.4ms, max=810.3ms
+  save_trajectories: mean=11.17s, total=11.17s, count=1, min=11174.4ms, max=11174.4ms
+  physics_step: mean=23.3ms, total=7.00s, count=300, min=16.6ms, max=28.2ms
+  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4963.0ms, max=4963.0ms
+  task_sampling: mean=601.9ms, total=601.9ms, count=1, min=601.9ms, max=601.9ms
+  task_specific_sample: mean=595.2ms, total=595.2ms, count=1, min=595.2ms, max=595.2ms
+  scene_randomize: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  mj_forward_sync: mean=448.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:34:07 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:34:07 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/12 01:34:07 INFO: [Worker 0] Worker 0 completed house 1: 9/12 successful episodes	[pipeline.py: 1323]
+05/12 01:34:07 INFO: [Worker 0] [PROFILE] House 1 complete: 9/12 successful, 12 episodes, total_time=5452.88s
+  House averages:
+  episode_total: mean=168.72s, total=3036.96s, count=18, min=125165.8ms, max=232795.4ms
+  sensor_polling: mean=415.2ms, total=2123.34s, count=5114, min=376.3ms, max=953.3ms
+  physics_step: mean=23.7ms, total=121.06s, count=5114, min=14.5ms, max=70.5ms
+  save_trajectories: mean=11.10s, total=99.87s, count=9, min=10181.8ms, max=11860.5ms
+  save_batch_prep: mean=4.79s, total=43.10s, count=9, min=3561.9ms, max=10277.5ms
+  task_sampling: mean=684.3ms, total=12.32s, count=18, min=371.7ms, max=3537.9ms
+  task_specific_sample: mean=518.8ms, total=9.34s, count=18, min=368.3ms, max=653.7ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2902.1ms, max=2902.1ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.0ms, max=1808.0ms
+  scene_compile: mean=908.2ms, total=908.2ms, count=1, min=908.2ms, max=908.2ms
+  compile_mujoco: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
+  compile_xml_load: mean=198.2ms, total=198.2ms, count=1, min=198.2ms, max=198.2ms
+  scene_init: mean=132.6ms, total=132.6ms, count=1, min=132.6ms, max=132.6ms
+  compile_aux_objects: mean=83.7ms, total=83.7ms, count=1, min=83.7ms, max=83.7ms
+  compile_aux_policy_objects: mean=83.7ms, total=83.7ms, count=1, min=83.7ms, max=83.7ms
+  scene_asset_install: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
+  scene_randomize: mean=2.2ms, total=39.8ms, count=18, min=1.2ms, max=4.8ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=12.5ms, total=12.5ms, count=1, min=12.5ms, max=12.5ms
+  asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms
+  mj_forward_sync: mean=466.7us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  policy_setup: mean=30.3us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/12 01:34:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/12 01:34:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5452.88s
+  Worker averages:
+  episode_total: mean=168.72s, total=3036.96s, count=18, min=125165.8ms, max=232795.4ms
+  sensor_polling: mean=415.2ms, total=2123.34s, count=5114, min=376.3ms, max=953.3ms
+  physics_step: mean=23.7ms, total=121.06s, count=5114, min=14.5ms, max=70.5ms
+  save_trajectories: mean=11.10s, total=99.87s, count=9, min=10181.8ms, max=11860.5ms
+  save_batch_prep: mean=4.79s, total=43.10s, count=9, min=3561.9ms, max=10277.5ms
+  task_sampling: mean=684.3ms, total=12.32s, count=18, min=371.7ms, max=3537.9ms
+  task_specific_sample: mean=518.8ms, total=9.34s, count=18, min=368.3ms, max=653.7ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2902.1ms, max=2902.1ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.0ms, max=1808.0ms
+  scene_compile: mean=908.2ms, total=908.2ms, count=1, min=908.2ms, max=908.2ms
+  compile_mujoco: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
+  compile_xml_load: mean=198.2ms, total=198.2ms, count=1, min=198.2ms, max=198.2ms
+  scene_init: mean=132.6ms, total=132.6ms, count=1, min=132.6ms, max=132.6ms
+  compile_aux_objects: mean=83.7ms, total=83.7ms, count=1, min=83.7ms, max=83.7ms
+  compile_aux_policy_objects: mean=83.7ms, total=83.7ms, count=1, min=83.7ms, max=83.7ms
+  scene_asset_install: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms
+  scene_randomize: mean=2.2ms, total=39.8ms, count=18, min=1.2ms, max=4.8ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=12.5ms, total=12.5ms, count=1, min=12.5ms, max=12.5ms
+  asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms
+  mj_forward_sync: mean=466.7us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  policy_setup: mean=30.3us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/12 01:34:11 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/12 01:34:11 INFO: Success count: 9, Total count: 12	[pipeline.py: 1491]
+05/12 01:34:11 INFO: Success rate: 75.00%	[pipeline.py: 1492]
diff --git a/fridge_m_0.7_pd/chunk_001/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_001/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b497400a5745eb7561f92ab98545f7af3f23fd73
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/trajectories_batch_1_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288095d770144a504f90bab9e928318e9f65933ec2505f79159e55286c5f0864
+size 621118082
diff --git a/fridge_m_0.7_pd/chunk_001/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_001/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b13186a2f546080a36dc5ca9e477fdc78642bece
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/trajectories_batch_2_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b414454dbd95eafb48506861759c1bbad4c3f2c68a9b60143d450d91d00b321a
+size 690071146
diff --git a/fridge_m_0.7_pd/chunk_001/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_001/trajectories_batch_3_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e5c02c9d1a8fedeafad6c2d2b81727c43714e6f3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/trajectories_batch_3_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70ff893ac9fa1b4294c07f13cfc5cc54e459cef59c1771d7342652dd6453c72
+size 1018112268
diff --git a/fridge_m_0.7_pd/chunk_001/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_001/trajectories_batch_4_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..62974ff10e2b781af5c389db192ac8f4b4510687
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_001/trajectories_batch_4_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44083082d75338f2fca9227e297ca5b47d6a31fa39a46df0f691c980d6ec7f4a
+size 770184763
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87ea174237bc88607c0610bf493276712c9e8185
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05bbb53475ad2705bb9f2a97511b6ef757f0cfb1fbb51e02d1ffdd282b2b84df
+size 728588
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b82c1a8462170d368798dd3c114a9fd469623c2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:941288a3d666441c4350e4e84eb0423c74795ecc2607458d1ee8fb3da7474cc6
+size 759962
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88b162e7d389728f61305f82a90a21d3fb4be3f5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c7edef34612a60b12f6abf383f5d0ab8254a7f22611160c33468f497328fc6a
+size 873728
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bad3992702d37ff086a94b182c03b733588d110c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38a63f34b259362361d1a40505e39504d993d94efe625543504dd3324f18634
+size 762014
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbeab5528bca1129bbdf331c3d665231d9dda33f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785948f435d44a041a62aea8afb6dd74589cc7e119c666655b898dd43a0f6786
+size 613786
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04802618f2189536e7ae20bee40a3b7d53f0b753
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a09118eeae1910cda209c6b1eb9e47b4805258d33c4e358c39e5a5091b69c1c
+size 631317
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58537c3305c638e8eb7e78cdb7456e1d13a8776b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec83c659bd65e5af5d5066b1de4f0c9bc8dc1b99c3cb20d391738044aada9022
+size 768329
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4122c8d4de8bf1afe91a59d7c3e5078ba17fcb06
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3135a1be16ae45d30ef112ede8fb2fe2b6413736b66fe32d83608162866813b7
+size 633581
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92a506ce9ed19324b55d647286ae22afdc1e2055
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f97db59d6f1554b1a064683fcd02432c5aefb3f42fbdeee37aefca8fed81be0
+size 882548
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28919f3ba084982e9adfa3dd46a72d51581abac5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e139a44daff6a259f598556e7c158260b21d31bc2dd56491c752a007117b4cf5
+size 686679
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3f80624d6a32f7c0ca45f51d031312f2db5f3ab
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eede32de7324fd278b4a48ebd21f9f878254fd991a6b07127f623ac44ca18e89
+size 786582
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8fb8023560b6bb012b570b944e664a65d25b9ec4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b4411cfaa368984841da6e92b3d2f74e199c1e2a2830b278eab14dc7d6354c8
+size 569089
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2231261ca8b6bfc82efaf19f36046a48332ba9c4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd260478c5caac573c1e21816bc59f196bbf78e5f4fadbcc965de2ed069cc32
+size 632243
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b58d31448e63a6d950d5db30b343f17ed0eaf7e3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:352852b2732c7371ad6fdc679730876e25e8bac50c4d171f589b6dbc4276acca
+size 633403
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff487bc933cfd30850978e059724c9559587a8a2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e3073da11c2e28725a3d9f603dae844ad65d8c3c4fb5bb1430df49675edbb2
+size 778677
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf17ce1a26c3dadf90798caebfbd3046f89ddef6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de844df7afd4131262a39d63b45b62f878b30dfd78bec814f80400fc8d13ec1c
+size 639172
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aab23b6104d153f9bb6de69170f949332db9a5d6
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae4556806314f198ca8cc279616d8e276fc1266314e5929e43b1c22edfd39eb
+size 118896
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2ee4c887a7f75a3a97d10b8d828cde61f3175f9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a8b9f1da858d6ca3ab0419994802911d4a6a056ab36025889b6a36e9f75813
+size 129474
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..deff3791f35f8b4bd1ca2896cbcfc44b00960fd9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4143707064b6d8c36cae50774651a86266d7cfb5e9c04d33294401a491c0af
+size 141823
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7eb2e5b1d0a189765bd2b0f588ebabf3af839c1
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77e38255e3bf770bc47e71b1712a2001cebb2c725503ecb76d997c821413c3e6
+size 136401
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55bbd0dbda3f7827d065e7d805ce5f87b2da3c7d
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9587bfcf0e290f5a6ae23f5f08e7d218a1096987bbfa89b7caea0c1a1bead2ad
+size 440454
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4c487dc900bdcb34daaabf9db6ed1a59c7d43eb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c941b69067ac1c23c64d98b35e6a6eb0702452f344d641a9534e70e847acd6e0
+size 409587
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99ce5d701090282d9348eb9ab54cd1eab01f4830
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b8b4bb455523668ae38aafabedf058b766f69d1737bda8d52725b935f13cf04
+size 636937
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb27c8fec4d8a23b97e3a2c20ff4c909fc3c4a1a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac2ac637cf5f6ad1081882fd59cf346d866efbeb5783214a220e2172be5487c
+size 383750
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a32b3e49c41f73be33b8f06b31e64d9f77d06753
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f432a18a3c5dea04b8626083a815347f30f9ada96db4d58de9542b31113d86
+size 778872
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f4793c8cbaa3827018c97ef2675e727ba2d9f6f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bb8d104542b5d3769b75668448d321aba7ee9b04c7fa116cc1ac9c10b45aaa
+size 586208
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1eae1ac675c7bd91d643a9388607e6b3104bcf5c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99db207878b05b7da5d59641b0db7f48284eaa6e5a2dd36e38e856f2be9adfa1
+size 680519
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1922d3fe51b0055b38c0cc7237537801836f6a40
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbcc4f5f423b12d9325dea03ca7834586d4ef0ced927b5bdad003f75f12c1404
+size 660113
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f18a1bb8bf389db61ddb4b130d7c1b207e37802
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f576f255965ef0d27cb97f93a18333e0c36b116d05db4fa528586ddff3460ed0
+size 474302
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0acf655b697c4fd87485a7e9b97fe4b65436243b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3ce2dd3dde44cd9662a056f540226b63101e628fb0257965e699a4d3a76207
+size 574482
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6a640207ae6b08bfd8e03d7e26ff69e5c5df8e7
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0be1c5e2851cf9003a0fc266f80ac66a2ed074ec233203e114bafa9f575b4fab
+size 587073
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..613dbfa334da8154a8bb96cb611aefc4526489e5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b535128879f66f1bb1f2636e9c9158b2cbeb526340466a332302d5a3072fe3
+size 580242
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..988ae92cce84e7259d52f94ed4c2ff43619acf3f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d856177b2b775e2a6cdeee8000d2605d4ebf6ae8677d1d296f9110c2b659b5e4
+size 636051
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62dc482565c7e4bccca8159ce78e0c26d642d4a9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a47169d7400d3ef16e9cf1a1a07dddb0d528cf46b3620f36132c96cc603d720
+size 634091
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e771c4cefee4d32164d7a44dcc3c657906310061
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:203d74edd393ade38fa6adcd410977a0f1990a8e29f3c5c053f1c0a77734567b
+size 634518
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a1870dcb18c181b3b5c6614f11c0b26a95a50e5
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f0d88832ba933a08be66b22470befaf26d98902b53311545fbf7b4cac89aa5
+size 785391
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a32c9643a87e7c0b970fbdf61159cab57c528ad4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e963e7e2ebc386cefca21637ea3632824645972d257ae407d9f4272831a0a90
+size 664463
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f42d9b51dd42771bf20012d05e10ace79a93ceb
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7deadb7d6ce13e6cb7791639928c1438c95e8e16c6ae7db4361c5cec36864f3
+size 119290
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b57ea20e8261c9213789fa25c88413e427a316e3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2654d4a71e440a527e0718b59f972c1f3c7c5ec9f315b20051c7690aad1332d4
+size 125676
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ede1d4693d4c1bc0a6fe05d49fbc6a09dee20696
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a8e7fed2fd55863a8767750193dcad81dac5e5867a4a6efa07ed20673ac614
+size 124252
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66b5d9da40151c59be03bcbc620c5b70cfdc4d34
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d56e23f84252aa1c21baa6d86085365993ba574c1912770cbc192dbfb8d1dd2
+size 393288
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50de758e60ec5f6ba42866c9746cf4cf2f9713d3
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e415591a23343d34000566af32f48f6beda21db9de53400df2e6b25df2f5ec3
+size 313667
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4341e647478a6a33489fed981503078fe669cf32
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb4d1be3a48941a41ff3f6a05bcd6f3c86b7a9185805e6501aaa58f86f421b8
+size 377087
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..123a3ff4f7e1a38d1b632c5fa69cc2231516dd67
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd7e09527e8f9ff8499022dcb376d1d5c03a04792edbcef88385093f5eb13a5
+size 694795
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba9a4b7b0c4d3127d86b5cdbf99c999158e6d129
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967dcec5299448c98fbdb60f3d39fb58bf98b2c614ad21dd61bc02d63140f952
+size 949241
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b3bd3e94943b96724b810bcd6aa2b14763d908a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:815108dd4819b5b5ca1f20b129a0355b98cf93b0dfc27404a7e896e332de4f9d
+size 559266
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..739b955d7ffe4e5a4315faf9a0c51ef823c08742
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd826186d44b1d4ce08b3a87268e7edcc09f91894ee2ea98a0c1d4b272eed13
+size 818299
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ab3638eb1132046dc57514284d75b7c9aeb1948
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a662329e7f747a4eca1b902e889d22487104aae88cb0d58062395d9cf9cca19
+size 658083
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f41a4cedf4751e145eef78cda18fec19d7f6e087
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9d9f52a0ec92bd8c6eb2eee5399458eb43a872b26a82517ad156e5b98a8c0e
+size 753649
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ab220ce6ca10b1ac252a9172d4c53e4d8ad4a36
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618700f850fc31b5fad530392738aabdd88e7750283003238923390abc2f7c18
+size 643764
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f382570307a06a8ad433597cb8613a5fa8fef5b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb8aabd5d721bd7325db48f7b3902c029d5fc7b2af949d486058c5fdffa71e6b
+size 603388
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b33f3658e62ba7775d14e7e9220931843164c313
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad3323c26178db22c5814ef8d532c2079e9458cb02ba24a66decc308d5a4f49
+size 139672
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0207aded8641e2610668f0db0bae1680bac61307
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dce0b41ec96709fa5776db95e642bc94b37988ce6135c4c6c79763759c90a5a
+size 121116
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6eb6d35a44c32ae5949a6d6e1499a5c4b56d05b4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a5999881b3cfc221a53b9e7f9f1a14fae427efa1995114852ee2144cfbc2c29
+size 440966
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff7334a549fc6f5603f51cc75c1e239b9b7db74a
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5196d6439d781805ff0fa6cc87675d90f6c2e0dab7afa00ea4e766ee592e680
+size 377907
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f810ded97ddf64b2a51ac769ab4d020d1cf506db
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9acaa49b29692e56fa8942448e14ff5dd153d70f08c6bd8fe4fe684a43c10bb
+size 895161
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9146f6972c8a4f1251b69d1cde8fb5987cf42173
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8179889b97e41f443b24bcf74c08308bfbfe51d3899f07c18a365f2c726fc717
+size 804566
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42c04db2a532373aa1ba9926488917541013f6a2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfcd2bba8a81f94907beeecd36f695601df7287b12c8e09bade55882ff31e5c5
+size 855085
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b7e390e52f866c2f8e0536c16b01a50d62b1909
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb696a7156852cf22bdc384e3df08cb3d129ff55357fa046845b0b8e57fc8ee
+size 721525
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d71f749f82ddb4098650919ae2873944aeab7652
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386e2c480bbdd5f5d73a4aa9c60bd5265cb8d0696ec08415363e2f36c67fe6d9
+size 113923
diff --git a/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..399a6e080a3fc630c83a5a7b15af18bc34fc1d5b
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb65babe9791f8f9bd293cf129206054cd999b7042f136e9a7d1226cd9865370
+size 453700
diff --git a/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013521.pkl b/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013521.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..490fca5b92955712ea2880f4ef4537d207e018a4
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013521.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d776370f5a472d8f09034ae35cc73360ca96599036d0e651d624b489573f10
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013522.pkl b/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013522.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2a6440355faf99b06524325c4d7459e143d8d85c
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013522.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cffc9b2bf48c20f7db2541b76886d4bf28f752b5dcab08365dafe86b8c45bb6
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013526.pkl b/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013526.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f674327cabde48b7b0cf46d99e998882534051b2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/experiment_config_20260512_013526.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b88cc4abd913ea34e4755c0d07bf2e8a12f617b1f66eba48b803c3f319f433
+size 8153
diff --git a/fridge_m_0.7_pd/chunk_002/running_log.log b/fridge_m_0.7_pd/chunk_002/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..d4dc20eac3bd6ad1105189e5f03f4db26a746ab9
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/running_log.log
@@ -0,0 +1,2500 @@
+05/12 01:35:21 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 01:35:21 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 01:35:21 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 01:35:21 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002'),
+ '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 0x788adfb3ecd0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 01:35:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 01:35:21 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 01:35:21 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 01:35:22 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 01:35:22 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 01:35:22 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 01:35:22 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002'),
+ '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 0x73a8d0f8ce50>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50201,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 01:35:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 01:35:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 01:35:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 01:35:22 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 01:35:22 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 01:35:22 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 01:35:22 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002'),
+ '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 0x70fac7bdf690>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50204,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 01:35:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 01:35:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 01:35:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 01:35:22 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 01:35:22 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 01:35:22 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 01:35:25 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 01:35:25 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 01:35:25 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 01:35:25 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 01:35:25 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 01:35:25 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 01:35:25 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 01:35:25 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 01:35:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:35:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098180m	[env.py: 870]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:35:25 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84938586  0.35297276  0.09818024] yaw=160.8deg	[env.py: 1019]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:35:25 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 01:35:25 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 01:35:25 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 01:35:25 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 01:35:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:35:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:35:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:35:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069318m	[env.py: 870]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:35:25 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7197651   0.54988614  0.09818024] yaw=-154.0deg	[env.py: 1019]
+05/12 01:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023336m	[env.py: 870]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:35:25 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07166761  0.99262427  0.09818024] yaw=-147.0deg	[env.py: 1019]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=21.9ms, retries=110.8ms, total=132.7ms	[env.py: 1075]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.353, 0.098)	[env.py: 1079]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.8 deg	[env.py: 1082]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8490222   0.64492483  0.02333608] yaw=-145.2deg	[env.py: 1019]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84222198  0.18349034  0.02333608] yaw=177.8deg	[env.py: 1019]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81647175  0.79422996  0.06931839] yaw=-139.5deg	[env.py: 1019]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84235157  0.81030415  0.02333608] yaw=-179.0deg	[env.py: 1019]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=28.2ms, retries=361.4ms, total=389.6ms	[env.py: 1075]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.645, 0.023)	[env.py: 1079]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89902127  0.27817845  0.06931839] yaw=190.2deg	[env.py: 1019]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89949409  1.02086379  0.06931839] yaw=-151.6deg	[env.py: 1019]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=453.9ms, total=475.6ms	[env.py: 1075]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.794, 0.069)	[env.py: 1079]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg	[env.py: 1082]
+05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:35:26 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:35:26 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/12 01:35:26 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/12 01:35:26 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/12 01:35:26 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002'),
+ '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 0x788fa4039110>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 50203,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.7,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/12 01:35:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/12 01:35:26 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/12 01:35:26 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/12 01:35:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:35:26 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:35:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:35:26 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:35:26 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/12 01:35:29 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/12 01:35:29 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/12 01:35:29 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/12 01:35:29 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/12 01:35:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076404m	[env.py: 870]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:35:29 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73758266  0.51025203  0.07640426] yaw=-216.8deg	[env.py: 1019]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77197481  0.5354504   0.07640426] yaw=-164.2deg	[env.py: 1019]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66242468  0.73944952  0.07640426] yaw=-134.9deg	[env.py: 1019]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=21.4ms, retries=107.8ms, total=129.2ms	[env.py: 1075]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.510, 0.076)	[env.py: 1079]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -216.8 deg	[env.py: 1082]
+05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:35:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:35:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 33.896s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:36:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:36:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:36:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:36:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.545[m] 91.701[deg]	[grasp_sample.py: 539]
+05/12 01:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:36:01 INFO: [Worker 0] Warmed up parallel IK solver in 35.170s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:36:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:36:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:36:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:36:01 INFO: [Worker 0] Warmed up parallel IK solver in 35.147s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:36:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:36:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:36:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:36:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:36:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:36:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.836s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:36:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 85.739[deg]	[grasp_sample.py: 539]
+05/12 01:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:36:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.995s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:36:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 89.153[deg]	[grasp_sample.py: 539]
+05/12 01:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:36:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:36:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:36:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:36:05 INFO: [Worker 0] Warmed up parallel IK solver in 35.699s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:36:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:36:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:36:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:36:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:36:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.636[m] 97.706[deg]	[grasp_sample.py: 539]
+05/12 01:36:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:36:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:36:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:36:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:36:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:36:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:36:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:37:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:37:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:37:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:37:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:37:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:37:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:37:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:37:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.656[deg]	[grasp_sample.py: 539]
+05/12 01:37:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:37:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:37:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:37:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:37:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:37:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:38:05 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:38:09 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:38:13 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:38:20 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:38:32 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:38:36 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:38:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:38:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:38:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:38:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:38:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:38:47 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:38:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 01:38:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:38:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:38:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:38:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.18s (batch: 4.70s, save: 11.48s)	[pipeline.py: 300]
+05/12 01:38:49 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.60s:
+  episode_total: mean=207.72s, total=207.72s, count=1, min=207718.5ms, max=207718.5ms
+  sensor_polling: mean=383.0ms, total=114.91s, count=300, min=364.0ms, max=540.2ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11476.4ms, max=11476.4ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=21.2ms, max=29.1ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4702.2ms, max=4702.2ms
+  task_sampling: mean=4.60s, total=4.60s, count=1, min=4595.6ms, max=4595.6ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3822.3ms, max=3822.3ms
+  scene_env_create: mean=2.30s, total=2.30s, count=1, min=2300.3ms, max=2300.3ms
+  scene_compile: mean=1.33s, total=1.33s, count=1, min=1333.6ms, max=1333.6ms
+  compile_mujoco: mean=780.4ms, total=780.4ms, count=1, min=780.4ms, max=780.4ms
+  task_specific_sample: mean=769.2ms, total=769.2ms, count=1, min=769.2ms, max=769.2ms
+  compile_xml_load: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
+  scene_init: mean=123.4ms, total=123.4ms, count=1, min=123.4ms, max=123.4ms
+  scene_asset_install: mean=64.4ms, total=64.4ms, count=1, min=64.4ms, max=64.4ms
+  compile_aux_objects: mean=60.0ms, total=60.0ms, count=1, min=60.0ms, max=60.0ms
+  compile_aux_policy_objects: mean=60.0ms, total=60.0ms, count=1, min=60.0ms, max=60.0ms
+  asset_install_grasps: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms
+  compile_robot_add: mean=22.4ms, total=22.4ms, count=1, min=22.4ms, max=22.4ms
+  asset_install_objects: mean=14.2ms, total=14.2ms, count=1, min=14.2ms, max=14.2ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=446.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=61.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 01:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:38:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:38:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:38:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005553m	[env.py: 870]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95371524  1.18339535  0.00555305] yaw=-174.1deg	[env.py: 1019]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68701367  0.79170356  0.00555305] yaw=-171.8deg	[env.py: 1019]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81815722  0.64879967  0.00555305] yaw=-172.7deg	[env.py: 1019]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:38:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.7ms, total=120.8ms	[env.py: 1075]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 1.183, 0.006)	[env.py: 1079]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg	[env.py: 1082]
+05/12 01:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:38:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:38:51 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:38:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:38:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:38:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:38:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:38:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:38:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:38:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.00s (batch: 4.73s, save: 11.26s)	[pipeline.py: 300]
+05/12 01:38:53 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.41s:
+  episode_total: mean=210.92s, total=210.92s, count=1, min=210917.5ms, max=210917.5ms
+  sensor_polling: mean=386.7ms, total=116.00s, count=300, min=365.8ms, max=594.2ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11261.6ms, max=11261.6ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=17.4ms, max=32.7ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4734.8ms, max=4734.8ms
+  task_sampling: mean=4.41s, total=4.41s, count=1, min=4408.3ms, max=4408.3ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3616.8ms, max=3616.8ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.5ms, max=2360.5ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.6ms, max=1070.6ms
+  task_specific_sample: mean=787.0ms, total=787.0ms, count=1, min=787.0ms, max=787.0ms
+  compile_mujoco: mean=718.1ms, total=718.1ms, count=1, min=718.1ms, max=718.1ms
+  compile_xml_load: mean=264.6ms, total=264.6ms, count=1, min=264.6ms, max=264.6ms
+  scene_init: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_asset_install: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  compile_robot_add: mean=22.9ms, total=22.9ms, count=1, min=22.9ms, max=22.9ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=609.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=55.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 01:38:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:38:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:38:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:38:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:38:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:38:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:38:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009333m	[env.py: 870]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:38:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64548693  0.67261025  0.00933298] yaw=-161.8deg	[env.py: 1019]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88567677  0.4920691   0.00933298] yaw=-218.9deg	[env.py: 1019]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69747417  0.37647698  0.00933298] yaw=206.8deg	[env.py: 1019]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=143.1ms, total=143.2ms	[env.py: 1075]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.673, 0.009)	[env.py: 1079]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
+05/12 01:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:38:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:38:55 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:38:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:38:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:38:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:38:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:38:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.319s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:38:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 84.565[deg]	[grasp_sample.py: 539]
+05/12 01:38:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:38:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:38:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:38:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.81s (batch: 4.39s, save: 11.43s)	[pipeline.py: 300]
+05/12 01:38:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:38:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:38:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:38:57 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.19s:
+  episode_total: mean=211.18s, total=211.18s, count=1, min=211180.2ms, max=211180.2ms
+  sensor_polling: mean=386.1ms, total=115.83s, count=300, min=363.7ms, max=588.7ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11425.1ms, max=11425.1ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.4ms, max=32.1ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.2ms, max=4387.2ms
+  task_sampling: mean=3.19s, total=3.19s, count=1, min=3192.2ms, max=3192.2ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2739.5ms, max=2739.5ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1715.0ms, max=1715.0ms
+  scene_compile: mean=846.2ms, total=846.2ms, count=1, min=846.2ms, max=846.2ms
+  compile_mujoco: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms
+  task_specific_sample: mean=449.5ms, total=449.5ms, count=1, min=449.5ms, max=449.5ms
+  compile_xml_load: mean=185.4ms, total=185.4ms, count=1, min=185.4ms, max=185.4ms
+  scene_init: mean=123.2ms, total=123.2ms, count=1, min=123.2ms, max=123.2ms
+  scene_asset_install: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  asset_install_grasps: mean=37.6ms, total=37.6ms, count=1, min=37.6ms, max=37.6ms
+  asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=445.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=69.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 01:38:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:38:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.774[m] 89.227[deg]	[grasp_sample.py: 539]
+05/12 01:38:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:38:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:38:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:38:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:38:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:38:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:38:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:38:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:38:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:38:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026374m	[env.py: 870]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:38:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75941032  0.02965778  0.02637376] yaw=193.1deg	[env.py: 1019]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91603537  0.38975065  0.02637376] yaw=138.5deg	[env.py: 1019]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.67752075  0.09987655  0.02637376] yaw=140.2deg	[env.py: 1019]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:38:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=479.3ms, total=479.4ms	[env.py: 1075]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.030, 0.026)	[env.py: 1079]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.1 deg	[env.py: 1082]
+05/12 01:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:38:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:38:59 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:39:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:39:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:39:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:39:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.59s (batch: 4.41s, save: 11.18s)	[pipeline.py: 300]
+05/12 01:39:03 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.30s:
+  episode_total: mean=221.57s, total=221.57s, count=1, min=221574.4ms, max=221574.4ms
+  sensor_polling: mean=389.7ms, total=116.90s, count=300, min=375.8ms, max=604.8ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11180.7ms, max=11180.7ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=15.4ms, max=35.0ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4406.7ms, max=4406.7ms
+  task_sampling: mean=4.30s, total=4.30s, count=1, min=4300.3ms, max=4300.3ms
+  scene_load: mean=3.64s, total=3.64s, count=1, min=3641.3ms, max=3641.3ms
+  scene_env_create: mean=2.23s, total=2.23s, count=1, min=2225.7ms, max=2225.7ms
+  scene_compile: mean=1.24s, total=1.24s, count=1, min=1242.5ms, max=1242.5ms
+  compile_mujoco: mean=763.2ms, total=763.2ms, count=1, min=763.2ms, max=763.2ms
+  task_specific_sample: mean=653.3ms, total=653.3ms, count=1, min=653.3ms, max=653.3ms
+  compile_xml_load: mean=379.8ms, total=379.8ms, count=1, min=379.8ms, max=379.8ms
+  scene_init: mean=119.2ms, total=119.2ms, count=1, min=119.2ms, max=119.2ms
+  compile_aux_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  compile_aux_policy_objects: mean=61.2ms, total=61.2ms, count=1, min=61.2ms, max=61.2ms
+  scene_asset_install: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  compile_robot_add: mean=25.5ms, total=25.5ms, count=1, min=25.5ms, max=25.5ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  mj_forward_sync: mean=454.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=59.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/12 01:39:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.136s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:39:04 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.750[m] 86.941[deg]	[grasp_sample.py: 539]
+05/12 01:39:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:39:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:39:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:39:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:39:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:39:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:39:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:39:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020413m	[env.py: 870]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05442258  1.21765918  0.02041342] yaw=-105.4deg	[env.py: 1019]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77937893  1.03961894  0.02041342] yaw=-160.3deg	[env.py: 1019]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83836357  0.61523557  0.02041342] yaw=-191.0deg	[env.py: 1019]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:39:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.6ms, total=254.6ms	[env.py: 1075]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.218, 0.020)	[env.py: 1079]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.4 deg	[env.py: 1082]
+05/12 01:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:39:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:39:05 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:39:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:39:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:39:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:39:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:39:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:39:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.604[m] 97.538[deg]	[grasp_sample.py: 539]
+05/12 01:39:09 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:39:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:39:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:39:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023952m	[env.py: 870]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82291507  0.19563816  0.02395212] yaw=128.0deg	[env.py: 1019]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80990674  1.12319464  0.02395212] yaw=-133.4deg	[env.py: 1019]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98004519  1.29379498  0.02395212] yaw=-123.0deg	[env.py: 1019]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:39:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.0ms	[env.py: 1075]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.196, 0.024)	[env.py: 1079]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.0 deg	[env.py: 1082]
+05/12 01:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:39:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:39:11 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:39:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:39:11 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]
+05/12 01:39:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:39:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:39:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:39:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.616[m] 102.329[deg]	[grasp_sample.py: 539]
+05/12 01:39:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:39:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:39:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:39:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:39:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:39:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:39:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:39:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:40:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:40:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:40:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:40:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:40:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:40:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:40:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:40:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:40:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:40:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:40:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:40:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:40:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:00 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.117[m] 2.663[deg]	[grasp_sample.py: 539]
+05/12 01:41:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:41:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:41:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:41:04 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:41:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:41:13 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:41:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/12 01:41:18 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.40s:
+  episode_total: mean=147.09s, total=147.09s, count=1, min=147085.8ms, max=147085.8ms
+  sensor_polling: mean=391.0ms, total=117.30s, count=300, min=365.6ms, max=635.1ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=15.4ms, max=31.7ms
+  task_sampling: mean=404.7ms, total=404.7ms, count=1, min=404.7ms, max=404.7ms
+  task_specific_sample: mean=400.7ms, total=400.7ms, count=1, min=400.7ms, max=400.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=446.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:41:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:41:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:41:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:41:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:41:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:41:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084252m	[env.py: 870]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:41:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77092556  0.5470562   0.08425191] yaw=-172.5deg	[env.py: 1019]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82080467  0.52430782  0.08425191] yaw=-171.1deg	[env.py: 1019]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69057189  0.83829768  0.08425191] yaw=-148.7deg	[env.py: 1019]
+05/12 01:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=371.3ms, total=371.3ms	[env.py: 1075]
+05/12 01:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.547, 0.084)	[env.py: 1079]
+05/12 01:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg	[env.py: 1082]
+05/12 01:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/12 01:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:41:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:41:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:41:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:41:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:41:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.085s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 78.565[deg]	[grasp_sample.py: 539]
+05/12 01:41:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:41:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:41:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:41:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:41:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:41:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:41:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:41:31 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]
+05/12 01:41:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:41:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:32 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.100[deg]	[grasp_sample.py: 539]
+05/12 01:41:33 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:41:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:41:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:41:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:41:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064073m	[env.py: 870]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17204842  1.05296558  0.06407298] yaw=-99.1deg	[env.py: 1019]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70164542  0.81292779  0.06407298] yaw=-194.2deg	[env.py: 1019]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98017726  0.14454914  0.06407298] yaw=152.5deg	[env.py: 1019]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.3ms, total=266.3ms	[env.py: 1075]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.053, 0.064)	[env.py: 1079]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.1 deg	[env.py: 1082]
+05/12 01:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:41:36 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:41:36 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]
+05/12 01:41:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:41:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 100.379[deg]	[grasp_sample.py: 539]
+05/12 01:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:41:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:41:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:41:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:41:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:41:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:41:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:41:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:41:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:41:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.60s (batch: 4.18s, save: 11.43s)	[pipeline.py: 300]
+05/12 01:41:47 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s:
+  episode_total: mean=173.07s, total=173.07s, count=1, min=173066.2ms, max=173066.2ms
+  sensor_polling: mean=394.9ms, total=118.47s, count=300, min=371.1ms, max=643.1ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11426.6ms, max=11426.6ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=17.0ms, max=68.1ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.0ms, max=4178.0ms
+  task_sampling: mean=430.9ms, total=430.9ms, count=1, min=430.9ms, max=430.9ms
+  task_specific_sample: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=447.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:41:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:41:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:41:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:41:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068216m	[env.py: 870]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14861621  1.09782507  0.06821609] yaw=-118.6deg	[env.py: 1019]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:41:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.5ms, total=280.6ms	[env.py: 1075]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, 1.098, 0.068)	[env.py: 1079]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.6 deg	[env.py: 1082]
+05/12 01:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:41:49 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:41:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:41:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:41:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:41:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.408[m] 95.849[deg]	[grasp_sample.py: 539]
+05/12 01:41:52 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:41:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:41:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:41:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.28s (batch: 3.92s, save: 10.37s)	[pipeline.py: 300]
+05/12 01:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:41:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:41:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037652m	[env.py: 870]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94674011  0.58133382  0.03765201] yaw=-172.6deg	[env.py: 1019]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17480602  1.14482902  0.03765201] yaw=-133.4deg	[env.py: 1019]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:41:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.3ms, total=336.3ms	[env.py: 1075]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.581, 0.038)	[env.py: 1079]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
+05/12 01:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m	[env.py: 1086]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:54 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.76s:
+  episode_total: mean=175.04s, total=175.04s, count=1, min=175038.9ms, max=175038.9ms
+  sensor_polling: mean=397.4ms, total=119.22s, count=300, min=380.0ms, max=655.8ms
+  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10367.0ms, max=10367.0ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=21.6ms, max=34.1ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.0ms, max=3915.0ms
+  task_sampling: mean=763.5ms, total=763.5ms, count=1, min=763.5ms, max=763.5ms
+  task_specific_sample: mean=758.5ms, total=758.5ms, count=1, min=758.5ms, max=758.5ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:41:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:41:54 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:41:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:41:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:41:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:41:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.805s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.301[m] 81.449[deg]	[grasp_sample.py: 539]
+05/12 01:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:41:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:41:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:41:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:41:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:41:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:41:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069810m	[env.py: 870]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:41:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:41:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:41:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09434033  0.97063395  0.06980952] yaw=-137.3deg	[env.py: 1019]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86489021  0.16967134  0.06980952] yaw=189.7deg	[env.py: 1019]
+05/12 01:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:41:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=289.5ms, total=289.5ms	[env.py: 1075]
+05/12 01:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.094, 0.971, 0.070)	[env.py: 1079]
+05/12 01:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/12 01:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/12 01:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:41:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:41:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:41:56 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:41:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.171s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:41:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:41:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:41:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:41:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:41:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 86.023[deg]	[grasp_sample.py: 539]
+05/12 01:41:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:41:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:41:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:42:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:42:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:42:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:42:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:42:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:43:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:43:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:43:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:43:53 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]
+05/12 01:43:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:43:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:43:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:43:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 0.384[deg]	[grasp_sample.py: 539]
+05/12 01:43:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:43:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:43:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:43:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:43:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:43:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:43:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:43:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083661m	[env.py: 870]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:43:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.18839147  1.0550982   0.08366058] yaw=-130.9deg	[env.py: 1019]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64001619  0.46997899  0.08366058] yaw=176.1deg	[env.py: 1019]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6275871   0.66233146  0.08366058] yaw=-200.3deg	[env.py: 1019]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:43:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.3ms, total=213.4ms	[env.py: 1075]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.188, 1.055, 0.084)	[env.py: 1079]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
+05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:43:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:43:59 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:43:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:43:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:43:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:44:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:44:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:44:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 100.798[deg]	[grasp_sample.py: 539]
+05/12 01:44:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:44:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:44:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:44:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/12 01:44:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:44:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:44:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:44:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:44:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:44:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:44:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:44:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.037[deg]	[grasp_sample.py: 539]
+05/12 01:44:25 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:44:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:44:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:44:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:44:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:44:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:44:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:44:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033337m	[env.py: 870]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:44:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88831125  0.87947724  0.03333745] yaw=-126.8deg	[env.py: 1019]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11325003  1.16127553  0.03333745] yaw=-109.7deg	[env.py: 1019]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92548779  0.32444649  0.03333745] yaw=158.1deg	[env.py: 1019]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:44:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=313.2ms, total=313.3ms	[env.py: 1075]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.879, 0.033)	[env.py: 1079]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg	[env.py: 1082]
+05/12 01:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:44:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:44:27 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:44:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:44:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:44:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:44:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:44:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.381s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:44:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 89.611[deg]	[grasp_sample.py: 539]
+05/12 01:44:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:44:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:44:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:44:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:44:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:44:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:44:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 20.72s (batch: 8.19s, save: 12.52s)	[pipeline.py: 300]
+05/12 01:44:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:44:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:44:37 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/12 01:44:38 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.73s:
+  episode_total: mean=198.54s, total=198.54s, count=1, min=198539.1ms, max=198539.1ms
+  sensor_polling: mean=442.3ms, total=132.68s, count=300, min=365.0ms, max=783.6ms
+  save_trajectories: mean=12.52s, total=12.52s, count=1, min=12523.8ms, max=12523.8ms
+  physics_step: mean=27.8ms, total=8.35s, count=300, min=17.8ms, max=65.0ms
+  save_batch_prep: mean=8.19s, total=8.19s, count=1, min=8191.2ms, max=8191.2ms
+  task_sampling: mean=733.6ms, total=733.6ms, count=1, min=733.6ms, max=733.6ms
+  task_specific_sample: mean=730.1ms, total=730.1ms, count=1, min=730.1ms, max=730.1ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=457.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:44:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:44:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:44:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:44:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:44:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:44:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:44:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039515m	[env.py: 870]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:44:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19100362  1.03339804  0.03951516] yaw=-135.1deg	[env.py: 1019]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15887739  1.10456087  0.03951516] yaw=-106.2deg	[env.py: 1019]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74417475  0.19437363  0.03951516] yaw=180.2deg	[env.py: 1019]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:44:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.3ms	[env.py: 1075]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.191, 1.033, 0.040)	[env.py: 1079]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
+05/12 01:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:44:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:44:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:44:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:44:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:44:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:44:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:44:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 91.839[deg]	[grasp_sample.py: 539]
+05/12 01:44:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:44:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:44:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:44:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:44:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:44:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:44:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.94s (batch: 4.14s, save: 10.80s)	[pipeline.py: 300]
+05/12 01:44:53 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.23s:
+  episode_total: mean=91.47s, total=182.93s, count=2, min=3045.5ms, max=179888.0ms
+  sensor_polling: mean=413.0ms, total=115.65s, count=280, min=383.1ms, max=674.9ms
+  save_trajectories: mean=10.80s, total=10.80s, count=1, min=10798.7ms, max=10798.7ms
+  physics_step: mean=25.4ms, total=7.11s, count=280, min=17.7ms, max=45.5ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.1ms, max=4142.1ms
+  task_sampling: mean=615.0ms, total=1.23s, count=2, min=591.0ms, max=639.1ms
+  task_specific_sample: mean=611.0ms, total=1.22s, count=2, min=586.9ms, max=635.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.0ms, max=2.8ms
+  mj_forward_sync: mean=447.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:44:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:44:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:44:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:44:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:44:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:44:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:44:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020210m	[env.py: 870]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:44:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62532454  0.66060752  0.02021041] yaw=-203.4deg	[env.py: 1019]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74350098  0.65503592  0.02021041] yaw=-185.9deg	[env.py: 1019]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:44:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=535.4ms, total=535.5ms	[env.py: 1075]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.625, 0.661, 0.020)	[env.py: 1079]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -203.4 deg	[env.py: 1082]
+05/12 01:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:44:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:44:55 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:44:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:44:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:44:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:44:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:44:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.695[m] 87.895[deg]	[grasp_sample.py: 539]
+05/12 01:44:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:44:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:44:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:44:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:45:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:45:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:45:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:45:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:45:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:45:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:45:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:46:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:46:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:46:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:46:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:46:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:46:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.688[deg]	[grasp_sample.py: 539]
+05/12 01:46:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:46:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:46:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:46:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:46:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075856m	[env.py: 870]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91349135  0.89100489  0.07585598] yaw=-128.2deg	[env.py: 1019]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76092277  0.21656261  0.07585598] yaw=172.4deg	[env.py: 1019]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76855803  0.42645116  0.07585598] yaw=185.1deg	[env.py: 1019]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.891, 0.076)	[env.py: 1079]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.2 deg	[env.py: 1082]
+05/12 01:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:46:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:46:08 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:46:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:46:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:46:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:46:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:46:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 92.872[deg]	[grasp_sample.py: 539]
+05/12 01:46:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:46:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:46:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:46:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:49 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:46:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/12 01:46:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/12 01:46:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:46:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:46:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:46:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:46:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.905[deg]	[grasp_sample.py: 539]
+05/12 01:47:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:47:00 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/12 01:47:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:47:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:47:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:47:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:47:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:47:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:47:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092442m	[env.py: 870]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:47:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1044162   1.06260161  0.09244208] yaw=-152.8deg	[env.py: 1019]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70644149  0.50088154  0.09244208] yaw=-198.8deg	[env.py: 1019]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05947777  0.89633602  0.09244208] yaw=-157.5deg	[env.py: 1019]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:47:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=290.1ms, total=290.1ms	[env.py: 1075]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.063, 0.092)	[env.py: 1079]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
+05/12 01:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:47:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:47:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:47:04 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:47:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:47:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:47:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:47:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:47:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.087s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:47:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 91.665[deg]	[grasp_sample.py: 539]
+05/12 01:47:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:47:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:47:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:47:12 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:47:18 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:47:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/12 01:47:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:47:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:47:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:47:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.87s (batch: 4.34s, save: 10.53s)	[pipeline.py: 300]
+05/12 01:47:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.20s:
+  episode_total: mean=168.35s, total=336.70s, count=2, min=149806.5ms, max=186894.4ms
+  sensor_polling: mean=422.9ms, total=251.65s, count=595, min=371.3ms, max=860.8ms
+  physics_step: mean=26.6ms, total=15.82s, count=595, min=16.9ms, max=75.1ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10531.1ms, max=10531.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.5ms, max=4342.5ms
+  task_sampling: mean=601.4ms, total=1.20s, count=2, min=587.5ms, max=615.2ms
+  task_specific_sample: mean=596.9ms, total=1.19s, count=2, min=583.4ms, max=610.3ms
+  scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=2.7ms, max=2.9ms
+  mj_forward_sync: mean=554.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:47:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:47:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:47:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093862m	[env.py: 870]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05414504  0.86237216  0.09386167] yaw=-166.4deg	[env.py: 1019]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72972216  0.77509125  0.09386167] yaw=-142.8deg	[env.py: 1019]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69166829  0.8155868   0.09386167] yaw=-123.7deg	[env.py: 1019]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:47:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.8ms	[env.py: 1075]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 0.862, 0.094)	[env.py: 1079]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
+05/12 01:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/12 01:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:47:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:47:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:47:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:47:36 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]
+05/12 01:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:47:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:47:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.365[m] 94.567[deg]	[grasp_sample.py: 539]
+05/12 01:47:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:47:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:47:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:47:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:47:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:47:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/12 01:47:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:47:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:47:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:47:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:47:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:47:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.91s (batch: 4.37s, save: 11.54s)	[pipeline.py: 300]
+05/12 01:47:55 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.90s:
+  episode_total: mean=180.94s, total=180.94s, count=1, min=180943.5ms, max=180943.5ms
+  sensor_polling: mean=410.0ms, total=123.00s, count=300, min=371.4ms, max=680.8ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11541.2ms, max=11541.2ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=21.5ms, max=35.7ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4369.7ms, max=4369.7ms
+  task_sampling: mean=900.3ms, total=900.3ms, count=1, min=900.3ms, max=900.3ms
+  task_specific_sample: mean=895.4ms, total=895.4ms, count=1, min=895.4ms, max=895.4ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=611.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:47:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:47:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:47:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:47:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:47:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:47:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073570m	[env.py: 870]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.891074    0.4263939   0.07357049] yaw=149.8deg	[env.py: 1019]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85915551  0.19386275  0.07357049] yaw=126.0deg	[env.py: 1019]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.0ms, total=255.1ms	[env.py: 1075]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.426, 0.074)	[env.py: 1079]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg	[env.py: 1082]
+05/12 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:47:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:47:57 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:47:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:47:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:47:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:47:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:47:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:47:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.493[m] 101.356[deg]	[grasp_sample.py: 539]
+05/12 01:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/12 01:47:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/12 01:47:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:48:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/12 01:48:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:48:15 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/12 01:48:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:48:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:48:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:48:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/12 01:48:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/12 01:48:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/12 01:48:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/12 01:48:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/12 01:49:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/12 01:49:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_002	[save_utils.py: 785]
+05/12 01:49:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 23.89s (batch: 10.68s, save: 13.21s)	[pipeline.py: 300]
+05/12 01:49:10 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=2.33s:
+  episode_total: mean=119.58s, total=597.88s, count=5, min=4609.2ms, max=182132.5ms
+  sensor_polling: mean=390.7ms, total=451.29s, count=1155, min=362.2ms, max=740.2ms
+  physics_step: mean=24.2ms, total=28.01s, count=1155, min=16.9ms, max=40.5ms
+  save_trajectories: mean=13.21s, total=13.21s, count=1, min=13210.8ms, max=13210.8ms
+  save_batch_prep: mean=10.68s, total=10.68s, count=1, min=10679.4ms, max=10679.4ms
+  task_sampling: mean=465.5ms, total=2.33s, count=5, min=374.4ms, max=534.6ms
+  task_specific_sample: mean=462.0ms, total=2.31s, count=5, min=371.4ms, max=530.3ms
+  scene_randomize: mean=1.7ms, total=8.7ms, count=5, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=473.0us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/12 01:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/12 01:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/12 01:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/12 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:49:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/12 01:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/12 01:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/12 01:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026528m	[env.py: 870]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/12 01:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63104629  0.30511761  0.02652824] yaw=207.2deg	[env.py: 1019]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66441972  0.16214898  0.02652824] yaw=179.7deg	[env.py: 1019]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/12 01:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/12 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/12 01:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=448.9ms, total=448.9ms	[env.py: 1075]
+05/12 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.631, 0.305, 0.027)	[env.py: 1079]
+05/12 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 207.2 deg	[env.py: 1082]
+05/12 01:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/12 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/12 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/12 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/12 01:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/12 01:49:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/12 01:49:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/12 01:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.185s	[base_object_manipulation_planner_policy.py: 377]
+05/12 01:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/12 01:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/12 01:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/12 01:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/12 01:49:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/12 01:49:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.749[m] 90.096[deg]	[grasp_sample.py: 539]
diff --git a/fridge_m_0.7_pd/chunk_002/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_002/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a064e9e9a0b33071a80f97c9060dd972bba68934
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/trajectories_batch_1_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277137af05320224d91038f065244bc388851e7d0f2cb5c4976a4dd7d97374e9
+size 78479834
diff --git a/fridge_m_0.7_pd/chunk_002/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_002/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0476fae73b23249917e068c87915201490cc201f
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/trajectories_batch_2_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e680ef0220a1393166de2af305477234ae37e5a6b3cc4da138d856ac15b20c5a
+size 160194317
diff --git a/fridge_m_0.7_pd/chunk_002/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_002/trajectories_batch_3_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e6f076e1065f25ddbf85b653071ae3693724eda2
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/trajectories_batch_3_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb325b1d830416cf295f0113b4441e86c9dfc04f0828b0a5bb750301fac175b
+size 226207433
diff --git a/fridge_m_0.7_pd/chunk_002/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_002/trajectories_batch_4_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22530b8ce6a1591c4ae644715d73f9d4b23e9db0
--- /dev/null
+++ b/fridge_m_0.7_pd/chunk_002/trajectories_batch_4_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cafe879251f19163f1683aea29310564e79fb25547375ee961f653136812408
+size 309362690