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+05/14 22:49:28 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:49:28 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:49:28 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:49:28 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_003'),
+ '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 0x77b3e2bddb90>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
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+                                  1060.4599870990814,
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+                                  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]},
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20301,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:49:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:49:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:49:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:49:28 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:49:28 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:49:28 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:49:28 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_v2/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x71a763222f50>,
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+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
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+                                        -2.35619,
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20303,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:49:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:49:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:49:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:49:29 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:49:29 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:49:30 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:49:30 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:49:30 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:49:30 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_003'),
+ '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 0x724003e60a90>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20302,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:49:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:49:30 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:49:30 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:49:30 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:49:32 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:49:32 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:49:32 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:49:32 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_003'),
+ '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 0x712fa03bc990>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20304,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:49:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:49:32 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:49:32 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:49:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:49:32 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:49:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:49:32 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:49:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:49:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:49:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:49:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:32 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: 195]
+05/14 22:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.077m, effective arm-mount z=0.783m (base_body_z=-0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076983m	[env.py: 870]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:49:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:49:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:49:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:32 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: 195]
+05/14 22:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082896m	[env.py: 870]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25997372 -0.94466182  0.08289619] yaw=189.3deg	[env.py: 1019]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04383854 -0.39526236  0.08289619] yaw=-147.7deg	[env.py: 1019]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04446595 -0.20104066  0.08289619] yaw=-141.8deg	[env.py: 1019]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=27.7ms, retries=108.8ms, total=136.6ms	[env.py: 1075]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.260, -0.945, 0.083)	[env.py: 1079]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.3 deg	[env.py: 1082]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/14 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.20599844 -0.38711467 -0.07698341] yaw=-162.5deg	[env.py: 1019]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=24.0ms, retries=267.5ms, total=291.5ms	[env.py: 1075]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.206, -0.387, -0.077)	[env.py: 1079]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.5 deg	[env.py: 1082]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:33 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:49:33 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:49:33 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:49:33 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:49:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:33 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: 195]
+05/14 22:49:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054980m	[env.py: 870]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:33 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:33 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01173131 -0.72269597  0.05498008] yaw=-150.5deg	[env.py: 1019]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.5489649  -0.05502711  0.05498008] yaw=-100.7deg	[env.py: 1019]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02725753 -0.77001153  0.05498008] yaw=-176.5deg	[env.py: 1019]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:49:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:33 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.4ms, retries=120.0ms, total=141.4ms	[env.py: 1075]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.012, -0.723, 0.055)	[env.py: 1079]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/14 22:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:33 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:35 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:49:35 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:49:35 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:49:35 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:49:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052091m	[env.py: 870]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:35 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 133.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12182899 -0.28735873 -0.05209096] yaw=-142.7deg	[env.py: 1019]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.37268238 -0.25516786 -0.05209096] yaw=-121.5deg	[env.py: 1019]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.1196939  -0.43800324 -0.05209096] yaw=-183.7deg	[env.py: 1019]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=20.9ms, retries=163.2ms, total=184.2ms	[env.py: 1075]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.122, -0.287, -0.052)	[env.py: 1079]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:35 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:06 INFO: [Worker 0] Warmed up parallel IK solver in 33.591s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.780s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 87.053[deg]	[grasp_sample.py: 539]
+05/14 22:50:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 34.391s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:50:09 INFO: [Worker 0] Warmed up parallel IK solver in 35.900s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:10 INFO: [Worker 0] Warmed up parallel IK solver in 34.428s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.731[m] 117.718[deg]	[grasp_sample.py: 539]
+05/14 22:50:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:50:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.083s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:14 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.831[m] 131.143[deg]	[grasp_sample.py: 539]
+05/14 22:50:15 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:50:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062240m	[env.py: 870]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09009049 -0.56731246 -0.06223961] yaw=-151.2deg	[env.py: 1019]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04603278 -0.89087532 -0.06223961] yaw=184.0deg	[env.py: 1019]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2269159  -0.82811908 -0.06223961] yaw=162.3deg	[env.py: 1019]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.4ms	[env.py: 1075]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.090, -0.567, -0.062)	[env.py: 1079]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/14 22:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m	[env.py: 1086]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:17 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 10.268s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:19 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.854[m] 63.522[deg]	[grasp_sample.py: 539]
+05/14 22:50:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.654s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:50:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:50:21 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:50:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.066m, effective arm-mount z=0.794m (base_body_z=-0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.065617m	[env.py: 870]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.46301973  0.11309433 -0.0656175 ] yaw=-109.6deg	[env.py: 1019]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19478994 -1.04546395 -0.0656175 ] yaw=140.2deg	[env.py: 1019]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.00700145 -0.26941276 -0.0656175 ] yaw=-159.9deg	[env.py: 1019]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=413.8ms, total=413.9ms	[env.py: 1075]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.463, 0.113, -0.066)	[env.py: 1079]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.6 deg	[env.py: 1082]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.112m	[env.py: 1086]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:22 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082340m	[env.py: 870]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.4044907   0.17631557  0.08234   ] yaw=-112.0deg	[env.py: 1019]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.06625615 -1.20181961  0.08234   ] yaw=141.4deg	[env.py: 1019]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.41837187 -0.07307552  0.08234   ] yaw=-126.5deg	[env.py: 1019]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.7ms, total=212.7ms	[env.py: 1075]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.404, 0.176, 0.082)	[env.py: 1079]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.0 deg	[env.py: 1082]
+05/14 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.197m	[env.py: 1086]
+05/14 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:23 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.694s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:50:25 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:50:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.726s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:50:26 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:26 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: 195]
+05/14 22:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:26 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: 273]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004536m	[env.py: 870]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11319828 -0.67954177  0.0045363 ] yaw=-168.8deg	[env.py: 1019]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.17295748 -0.82503701  0.0045363 ] yaw=183.3deg	[env.py: 1019]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.22310462 -0.98236658  0.0045363 ] yaw=161.5deg	[env.py: 1019]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=189.9ms	[env.py: 1075]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.113, -0.680, 0.005)	[env.py: 1079]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg	[env.py: 1082]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:27 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:27 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]
+05/14 22:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072200m	[env.py: 870]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32085205 -0.10187545  0.07220043] yaw=-160.2deg	[env.py: 1019]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07100953 -1.0939507   0.07220043] yaw=159.1deg	[env.py: 1019]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.32535157 -1.12956828  0.07220043] yaw=143.8deg	[env.py: 1019]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=190.5ms, total=190.6ms	[env.py: 1075]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.321, -0.102, 0.072)	[env.py: 1079]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/14 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/14 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:28 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.255s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.632[m] 114.206[deg]	[grasp_sample.py: 539]
+05/14 22:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:50:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.294s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:35 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.677[m] 94.971[deg]	[grasp_sample.py: 539]
+05/14 22:50:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:50:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:50:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:51:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:51:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:51:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:51:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:51:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:51:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:51:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:51:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.257[deg]	[grasp_sample.py: 539]
+05/14 22:51:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:51:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:51:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:51:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:51:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:51:54 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:51:54 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.379[deg]	[grasp_sample.py: 539]
+05/14 22:51:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:51:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:51:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:51:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:52:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:52:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:10 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:10 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.101[m] 0.378[deg]	[grasp_sample.py: 539]
+05/14 22:52:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:25 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:52:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/14 22:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:52:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=4.29s:
+  episode_total: mean=177.64s, total=177.64s, count=1, min=177635.8ms, max=177635.8ms
+  sensor_polling: mean=424.9ms, total=86.67s, count=204, min=392.9ms, max=663.9ms
+  physics_step: mean=23.3ms, total=4.76s, count=204, min=15.0ms, max=27.9ms
+  task_sampling: mean=4.29s, total=4.29s, count=1, min=4290.1ms, max=4290.1ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3818.0ms, max=3818.0ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2166.4ms, max=2166.4ms
+  scene_compile: mean=1.46s, total=1.46s, count=1, min=1459.1ms, max=1459.1ms
+  compile_mujoco: mean=721.7ms, total=721.7ms, count=1, min=721.7ms, max=721.7ms
+  compile_xml_load: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
+  task_specific_sample: mean=468.8ms, total=468.8ms, count=1, min=468.8ms, max=468.8ms
+  scene_init: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
+  scene_asset_install: mean=60.0ms, total=60.0ms, count=1, min=60.0ms, max=60.0ms
+  compile_aux_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_policy_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_robot_add: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=560.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=53.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/14 22:52:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.086m, effective arm-mount z=0.774m (base_body_z=-0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085817m	[env.py: 870]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07482221 -0.23393872 -0.08581715] yaw=-147.2deg	[env.py: 1019]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.02093845 -0.71729283 -0.08581715] yaw=-174.2deg	[env.py: 1019]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.14092773 -1.30116506 -0.08581715] yaw=158.8deg	[env.py: 1019]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.6ms, total=216.7ms	[env.py: 1075]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -0.234, -0.086)	[env.py: 1079]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/14 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.157m	[env.py: 1086]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:28 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]
+05/14 22:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.626s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:52:31 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053961m	[env.py: 870]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.05558872 -1.01432557  0.05396114] yaw=149.2deg	[env.py: 1019]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.3568095  -1.17026386  0.05396114] yaw=168.5deg	[env.py: 1019]
+05/14 22:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.27507158 -0.29699684  0.05396114] yaw=-119.8deg	[env.py: 1019]
+05/14 22:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms	[env.py: 1075]
+05/14 22:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.056, -1.014, 0.054)	[env.py: 1079]
+05/14 22:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.2 deg	[env.py: 1082]
+05/14 22:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/14 22:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:33 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:33 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]
+05/14 22:52:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.057s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.728[m] 122.499[deg]	[grasp_sample.py: 539]
+05/14 22:52:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:52:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:52:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:52:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:37 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.740s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:52:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:52:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021536m	[env.py: 870]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.35424032 -0.28906794 -0.0215361 ] yaw=-157.2deg	[env.py: 1019]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02680898 -1.03782695 -0.0215361 ] yaw=150.7deg	[env.py: 1019]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.11641951 -0.87178761 -0.0215361 ] yaw=182.6deg	[env.py: 1019]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=213.4ms, total=213.4ms	[env.py: 1075]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.354, -0.289, -0.022)	[env.py: 1079]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg	[env.py: 1082]
+05/14 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:40 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:52:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 117.356[deg]	[grasp_sample.py: 539]
+05/14 22:52:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:52:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:52:43 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]
+05/14 22:52:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:44 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.590[deg]	[grasp_sample.py: 539]
+05/14 22:52:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:52:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:52:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:52:54 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:53:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:53:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:53:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.20s (batch: 4.64s, save: 11.56s)	[pipeline.py: 300]
+05/14 22:53:11 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.50s:
+  episode_total: mean=222.71s, total=222.71s, count=1, min=222706.4ms, max=222706.4ms
+  sensor_polling: mean=417.8ms, total=125.34s, count=300, min=400.9ms, max=684.7ms
+  save_trajectories: mean=11.56s, total=11.56s, count=1, min=11561.5ms, max=11561.5ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=19.4ms, max=29.8ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4637.0ms, max=4637.0ms
+  task_sampling: mean=4.50s, total=4.50s, count=1, min=4495.8ms, max=4495.8ms
+  scene_load: mean=3.89s, total=3.89s, count=1, min=3888.8ms, max=3888.8ms
+  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.8ms, max=2185.8ms
+  scene_compile: mean=1.52s, total=1.52s, count=1, min=1516.7ms, max=1516.7ms
+  compile_xml_load: mean=745.9ms, total=745.9ms, count=1, min=745.9ms, max=745.9ms
+  compile_mujoco: mean=670.9ms, total=670.9ms, count=1, min=670.9ms, max=670.9ms
+  task_specific_sample: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
+  scene_init: mean=123.3ms, total=123.3ms, count=1, min=123.3ms, max=123.3ms
+  scene_asset_install: mean=62.6ms, total=62.6ms, count=1, min=62.6ms, max=62.6ms
+  compile_aux_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_policy_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  compile_robot_add: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms
+  asset_install_objects: mean=14.6ms, total=14.6ms, count=1, min=14.6ms, max=14.6ms
+  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=570.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=38.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:53:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062574m	[env.py: 870]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06606081 -0.46101238  0.06257434] yaw=-135.6deg	[env.py: 1019]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14026668 -0.2617489   0.06257434] yaw=-142.9deg	[env.py: 1019]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=514.1ms, total=514.1ms	[env.py: 1075]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -0.461, 0.063)	[env.py: 1079]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.6 deg	[env.py: 1082]
+05/14 22:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m	[env.py: 1086]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:13 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:53:14 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]
+05/14 22:53:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:53:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.660s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:53:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080584m	[env.py: 870]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10582222 -0.48343253 -0.08058441] yaw=-151.1deg	[env.py: 1019]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12243646 -0.66801086 -0.08058441] yaw=-191.4deg	[env.py: 1019]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.57142509 -0.10385881 -0.08058441] yaw=-97.3deg	[env.py: 1019]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.2ms	[env.py: 1075]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.106, -0.483, -0.081)	[env.py: 1079]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:53:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:53:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:53:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:53:21 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.724[m] 66.347[deg]	[grasp_sample.py: 539]
+05/14 22:53:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:53:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:53:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:53:22 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:53:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:53:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:53:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:53:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:53:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.06s (batch: 4.36s, save: 11.70s)	[pipeline.py: 300]
+05/14 22:53:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:39 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=4.87s:
+  episode_total: mean=60.79s, total=243.18s, count=4, min=3193.0ms, max=193173.3ms
+  sensor_polling: mean=414.5ms, total=124.34s, count=300, min=395.5ms, max=622.2ms
+  save_trajectories: mean=11.70s, total=11.70s, count=1, min=11701.1ms, max=11701.1ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=15.7ms, max=37.1ms
+  task_sampling: mean=1.22s, total=4.87s, count=4, min=396.1ms, max=3346.7ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4356.0ms, max=4356.0ms
+  scene_load: mean=2.87s, total=2.87s, count=1, min=2868.4ms, max=2868.4ms
+  task_specific_sample: mean=496.5ms, total=1.99s, count=4, min=393.4ms, max=672.7ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1737.7ms, max=1737.7ms
+  scene_compile: mean=952.2ms, total=952.2ms, count=1, min=952.2ms, max=952.2ms
+  compile_mujoco: mean=688.6ms, total=688.6ms, count=1, min=688.6ms, max=688.6ms
+  compile_xml_load: mean=187.9ms, total=187.9ms, count=1, min=187.9ms, max=187.9ms
+  scene_init: mean=120.2ms, total=120.2ms, count=1, min=120.2ms, max=120.2ms
+  scene_asset_install: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  asset_install_grasps: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  compile_robot_add: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=1.2ms, max=1.9ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  mj_forward_sync: mean=449.0us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047165m	[env.py: 870]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25094451 -0.59926176  0.047165  ] yaw=-177.0deg	[env.py: 1019]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08170537 -0.25324903  0.047165  ] yaw=-173.1deg	[env.py: 1019]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.2ms	[env.py: 1075]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.251, -0.599, 0.047)	[env.py: 1079]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.0 deg	[env.py: 1082]
+05/14 22:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:41 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:53:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:53:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.014s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:53:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.629[m] 103.081[deg]	[grasp_sample.py: 539]
+05/14 22:53:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:53:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:53:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:53:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:53:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:53:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:53:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:53:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.062s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.091[m] 4.680[deg]	[grasp_sample.py: 539]
+05/14 22:54:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:12 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:55:12 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.95s:
+  episode_total: mean=81.60s, total=163.19s, count=2, min=3308.1ms, max=159885.6ms
+  sensor_polling: mean=441.4ms, total=132.43s, count=300, min=372.1ms, max=770.2ms
+  physics_step: mean=26.0ms, total=7.79s, count=300, min=17.6ms, max=40.6ms
+  task_sampling: mean=477.3ms, total=954.7ms, count=2, min=444.8ms, max=509.9ms
+  task_specific_sample: mean=473.7ms, total=947.5ms, count=2, min=441.1ms, max=506.4ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=588.4us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:55:13 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:14 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: 273]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033075m	[env.py: 870]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22139877 -0.14475575  0.03307486] yaw=-113.8deg	[env.py: 1019]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.6ms, total=223.6ms	[env.py: 1075]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.221, -0.145, 0.033)	[env.py: 1079]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.8 deg	[env.py: 1082]
+05/14 22:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:14 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:14 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]
+05/14 22:55:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.090s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:19 INFO: [Worker 0] Feasible grasp found 189 (originally 74): w/ 0.936[m] 116.110[deg]	[grasp_sample.py: 539]
+05/14 22:55:21 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:22 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: 273]
+05/14 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093161m	[env.py: 870]
+05/14 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.3199244  -0.51903403  0.09316104] yaw=-168.9deg	[env.py: 1019]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11995472 -0.76427585  0.09316104] yaw=-189.4deg	[env.py: 1019]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.4ms, total=266.5ms	[env.py: 1075]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.320, -0.519, 0.093)	[env.py: 1079]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
+05/14 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/14 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:23 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:55:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.270s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.359[m] 93.478[deg]	[grasp_sample.py: 539]
+05/14 22:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:55:38 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:55:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:55:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:55:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:55:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:55:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.56s (batch: 4.32s, save: 11.24s)	[pipeline.py: 300]
+05/14 22:55:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:56 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=4.89s:
+  episode_total: mean=95.23s, total=380.91s, count=4, min=3423.2ms, max=196472.4ms
+  sensor_polling: mean=461.6ms, total=242.36s, count=525, min=403.6ms, max=867.0ms
+  physics_step: mean=25.7ms, total=13.47s, count=525, min=17.0ms, max=57.5ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11243.7ms, max=11243.7ms
+  task_sampling: mean=1.22s, total=4.89s, count=4, min=486.5ms, max=3372.2ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.4ms, max=4316.4ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2926.1ms, max=2926.1ms
+  task_specific_sample: mean=486.1ms, total=1.94s, count=4, min=443.1ms, max=516.9ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1848.5ms, max=1848.5ms
+  scene_compile: mean=883.8ms, total=883.8ms, count=1, min=883.8ms, max=883.8ms
+  compile_mujoco: mean=623.5ms, total=623.5ms, count=1, min=623.5ms, max=623.5ms
+  compile_xml_load: mean=187.3ms, total=187.3ms, count=1, min=187.3ms, max=187.3ms
+  scene_init: mean=132.4ms, total=132.4ms, count=1, min=132.4ms, max=132.4ms
+  scene_asset_install: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms
+  compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  scene_randomize: mean=1.9ms, total=7.5ms, count=4, min=1.2ms, max=2.2ms
+  asset_install_scene: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  mj_forward_sync: mean=512.4us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=28.8us, total=0.1ms, count=4, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:55:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:55:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037119m	[env.py: 870]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.28366681 -1.16814544 -0.03711854] yaw=164.6deg	[env.py: 1019]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20985506 -0.48581709 -0.03711854] yaw=-132.5deg	[env.py: 1019]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.2ms, total=266.2ms	[env.py: 1075]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.284, -1.168, -0.037)	[env.py: 1079]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/14 22:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:58 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:58 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.193s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:58 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]
+05/14 22:55:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.521[m] 88.997[deg]	[grasp_sample.py: 539]
+05/14 22:55:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:56:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:56:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:56:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:56:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:56:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.71s (batch: 4.87s, save: 12.84s)	[pipeline.py: 300]
+05/14 22:56:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.29s:
+  episode_total: mean=94.61s, total=189.21s, count=2, min=3665.9ms, max=185544.8ms
+  sensor_polling: mean=423.7ms, total=127.11s, count=300, min=397.7ms, max=775.6ms
+  save_trajectories: mean=12.84s, total=12.84s, count=1, min=12837.1ms, max=12837.1ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=21.8ms, max=35.2ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4867.9ms, max=4867.9ms
+  task_sampling: mean=645.6ms, total=1.29s, count=2, min=482.1ms, max=809.0ms
+  task_specific_sample: mean=641.9ms, total=1.28s, count=2, min=479.0ms, max=804.8ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=470.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:56:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:56:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:56:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021325m	[env.py: 870]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07466139 -0.48782831  0.02132464] yaw=-177.2deg	[env.py: 1019]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.11789679 -0.50898664  0.02132464] yaw=-181.6deg	[env.py: 1019]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms	[env.py: 1075]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -0.488, 0.021)	[env.py: 1079]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg	[env.py: 1082]
+05/14 22:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:56:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.001s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.775[m] 119.621[deg]	[grasp_sample.py: 539]
+05/14 22:56:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:56:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:56:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.62s (batch: 4.30s, save: 11.32s)	[pipeline.py: 300]
+05/14 22:56:41 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.64s:
+  episode_total: mean=180.31s, total=180.31s, count=1, min=180305.5ms, max=180305.5ms
+  sensor_polling: mean=417.0ms, total=125.10s, count=300, min=400.2ms, max=712.3ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11320.5ms, max=11320.5ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=17.8ms, max=35.6ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4299.9ms, max=4299.9ms
+  task_sampling: mean=640.3ms, total=640.3ms, count=1, min=640.3ms, max=640.3ms
+  task_specific_sample: mean=635.6ms, total=635.6ms, count=1, min=635.6ms, max=635.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=466.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:56:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:42 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: 273]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067533m	[env.py: 870]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08847664 -0.59005913  0.06753286] yaw=-190.2deg	[env.py: 1019]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.55528247 -0.03062738  0.06753286] yaw=-109.8deg	[env.py: 1019]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.19297132 -0.57199928  0.06753286] yaw=-171.2deg	[env.py: 1019]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.2ms	[env.py: 1075]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.088, -0.590, 0.068)	[env.py: 1079]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.2 deg	[env.py: 1082]
+05/14 22:56:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/14 22:56:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:43 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:43 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]
+05/14 22:56:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.334s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.712[m] 68.592[deg]	[grasp_sample.py: 539]
+05/14 22:56:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:57:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:42 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.444[deg]	[grasp_sample.py: 539]
+05/14 22:57:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:57:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:57:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:45 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: 273]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033086m	[env.py: 870]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.48931813 -0.09882672  0.03308604] yaw=-137.3deg	[env.py: 1019]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=279.9ms, total=279.9ms	[env.py: 1075]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.489, -0.099, 0.033)	[env.py: 1079]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/14 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.962s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:50 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.439[m] 77.603[deg]	[grasp_sample.py: 539]
+05/14 22:57:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:58:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:58:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:55 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:59:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:59:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:59:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.903[deg]	[grasp_sample.py: 539]
+05/14 22:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:13 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:59:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:59:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:59:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:59:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:59:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:59:33 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]
+05/14 22:59:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:36 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.097[m] 2.728[deg]	[grasp_sample.py: 539]
+05/14 22:59:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:59:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:59:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.27s (batch: 4.59s, save: 11.69s)	[pipeline.py: 300]
+05/14 22:59:39 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.55s:
+  episode_total: mean=194.58s, total=194.58s, count=1, min=194584.7ms, max=194584.7ms
+  sensor_polling: mean=454.3ms, total=136.28s, count=300, min=391.2ms, max=735.7ms
+  save_trajectories: mean=11.69s, total=11.69s, count=1, min=11685.5ms, max=11685.5ms
+  physics_step: mean=25.5ms, total=7.64s, count=300, min=17.5ms, max=65.7ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.1ms, max=4587.1ms
+  task_sampling: mean=549.7ms, total=549.7ms, count=1, min=549.7ms, max=549.7ms
+  task_specific_sample: mean=545.7ms, total=545.7ms, count=1, min=545.7ms, max=545.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:59:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 22:59:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:59:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014574m	[env.py: 870]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17806932 -0.16969824  0.01457396] yaw=-129.8deg	[env.py: 1019]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07310997 -0.33704234  0.01457396] yaw=-169.4deg	[env.py: 1019]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18522318 -0.58576019  0.01457396] yaw=-146.3deg	[env.py: 1019]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.5ms, total=104.6ms	[env.py: 1075]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.178, -0.170, 0.015)	[env.py: 1079]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
+05/14 22:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.105m	[env.py: 1086]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:41 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:59:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:59:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.34s (batch: 4.56s, save: 11.78s)	[pipeline.py: 300]
+05/14 22:59:42 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.49s:
+  episode_total: mean=179.78s, total=179.78s, count=1, min=179779.5ms, max=179779.5ms
+  sensor_polling: mean=410.3ms, total=123.09s, count=300, min=386.5ms, max=734.2ms
+  save_trajectories: mean=11.78s, total=11.78s, count=1, min=11778.2ms, max=11778.2ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.8ms, max=27.5ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4561.9ms, max=4561.9ms
+  task_sampling: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms
+  task_specific_sample: mean=487.5ms, total=487.5ms, count=1, min=487.5ms, max=487.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=467.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:59:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:59:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.095m, effective arm-mount z=0.765m (base_body_z=-0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094554m	[env.py: 870]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09923793 -0.77518375 -0.09455441] yaw=-158.1deg	[env.py: 1019]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1942011  -1.23859373 -0.09455441] yaw=162.8deg	[env.py: 1019]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02316394 -1.20191628 -0.09455441] yaw=177.9deg	[env.py: 1019]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms	[env.py: 1075]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -0.775, -0.095)	[env.py: 1079]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/14 22:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.174m	[env.py: 1086]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.825s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:59:44 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:59:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:44 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:59:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:45 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: 273]
+05/14 22:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099692m	[env.py: 870]
+05/14 22:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25620652 -0.62634526  0.09969245] yaw=-151.5deg	[env.py: 1019]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.46381805 -0.05711461  0.09969245] yaw=-107.4deg	[env.py: 1019]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.5ms, total=179.5ms	[env.py: 1075]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.256, -0.626, 0.100)	[env.py: 1079]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
+05/14 22:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/14 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:59:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.628s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:59:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 74.538[deg]	[grasp_sample.py: 539]
+05/14 22:59:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029683m	[env.py: 870]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.28260094 -1.14922161  0.02968259] yaw=145.2deg	[env.py: 1019]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.7ms	[env.py: 1075]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.283, -1.149, 0.030)	[env.py: 1079]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.2 deg	[env.py: 1082]
+05/14 22:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/14 22:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:49 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:59:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.869s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 107.374[deg]	[grasp_sample.py: 539]
+05/14 22:59:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:59:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:59:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 22:59:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.76s (batch: 4.33s, save: 12.44s)	[pipeline.py: 300]
+05/14 22:59:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.64s:
+  episode_total: mean=239.63s, total=239.63s, count=1, min=239632.8ms, max=239632.8ms
+  sensor_polling: mean=477.4ms, total=143.21s, count=300, min=407.0ms, max=928.7ms
+  save_trajectories: mean=12.44s, total=12.44s, count=1, min=12436.0ms, max=12436.0ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=15.2ms, max=34.6ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4325.2ms, max=4325.2ms
+  task_sampling: mean=642.0ms, total=642.0ms, count=1, min=642.0ms, max=642.0ms
+  task_specific_sample: mean=637.9ms, total=637.9ms, count=1, min=637.9ms, max=637.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=455.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=34.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031093m	[env.py: 870]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00951756 -0.34950292 -0.03109335] yaw=-168.6deg	[env.py: 1019]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.47115362 -0.15042949 -0.03109335] yaw=-113.8deg	[env.py: 1019]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.3429338  -0.17685733 -0.03109335] yaw=-136.0deg	[env.py: 1019]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.4ms, total=134.5ms	[env.py: 1075]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.010, -0.350, -0.031)	[env.py: 1079]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
+05/14 22:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.180m	[env.py: 1086]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:58 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.183s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:59:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.820s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:00:01 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:00:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:00:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:00:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:00:04 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: 273]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084672m	[env.py: 870]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10048111 -0.26131527  0.08467198] yaw=-142.1deg	[env.py: 1019]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.26084752 -0.5214666   0.08467198] yaw=-131.8deg	[env.py: 1019]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.28873602 -0.55200569  0.08467198] yaw=-156.0deg	[env.py: 1019]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:00:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms	[env.py: 1075]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.261, 0.085)	[env.py: 1079]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg	[env.py: 1082]
+05/14 23:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:00:04 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:00:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:00:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.823s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:00:07 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:00:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:00:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:00:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:00:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:00:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017957m	[env.py: 870]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:00:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19042221 -0.70859916 -0.01795692] yaw=-147.1deg	[env.py: 1019]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26704211 -0.53044981 -0.01795692] yaw=-146.6deg	[env.py: 1019]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.54474242  0.00358155 -0.01795692] yaw=-129.3deg	[env.py: 1019]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:00:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.9ms, total=116.0ms	[env.py: 1075]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.190, -0.709, -0.018)	[env.py: 1079]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
+05/14 23:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:00:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:00:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:00:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.170s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 91.779[deg]	[grasp_sample.py: 539]
+05/14 23:00:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:00:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:00:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:00:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:25 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.292[deg]	[grasp_sample.py: 539]
+05/14 23:00:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:00:35 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=1.61s:
+  episode_total: mean=105.65s, total=316.96s, count=3, min=7067.2ms, max=169520.4ms
+  sensor_polling: mean=418.2ms, total=240.04s, count=574, min=384.2ms, max=843.6ms
+  physics_step: mean=24.8ms, total=14.26s, count=574, min=18.8ms, max=38.2ms
+  task_sampling: mean=536.7ms, total=1.61s, count=3, min=485.7ms, max=578.4ms
+  task_specific_sample: mean=532.9ms, total=1.60s, count=3, min=483.0ms, max=574.0ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=488.8us, total=1.5ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:00:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:00:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056203m	[env.py: 870]
+05/14 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02477735 -0.54902698  0.05620321] yaw=-168.6deg	[env.py: 1019]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.0089703  -1.0157178   0.05620321] yaw=167.0deg	[env.py: 1019]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:00:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=317.3ms, total=317.3ms	[env.py: 1075]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -0.549, 0.056)	[env.py: 1079]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
+05/14 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.131m	[env.py: 1086]
+05/14 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:00:37 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:00:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:00:37 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]
+05/14 23:00:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.000s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:41 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.636[m] 158.576[deg]	[grasp_sample.py: 539]
+05/14 23:00:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:00:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:01:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:01:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:57 INFO: [Worker 0] Object is not in grasp! 0.00190 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:01:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:02:00 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:02:00 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.102[m] 28.078[deg]	[grasp_sample.py: 539]
+05/14 23:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:02:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:02:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:02:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:02:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:02:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:02:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:02:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:02:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:02:08 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.403[deg]	[grasp_sample.py: 539]
+05/14 23:02:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:02:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:02:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:09 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:02:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:25 INFO: [Worker 0] Object is not in grasp! 0.00199 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:02:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:02:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:02:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:02:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:02:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.707s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:02:26 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.443[m] 39.224[deg]	[grasp_sample.py: 539]
+05/14 23:02:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:02:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:02:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:29 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:02:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:34 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:02:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:02:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:02:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:02:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:02:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:02:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:02:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:02:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:02:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.84s (batch: 4.79s, save: 12.05s)	[pipeline.py: 300]
+05/14 23:02:56 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.83s:
+  episode_total: mean=97.05s, total=194.10s, count=2, min=3414.7ms, max=190689.4ms
+  sensor_polling: mean=435.7ms, total=130.71s, count=300, min=404.8ms, max=855.2ms
+  save_trajectories: mean=12.05s, total=12.05s, count=1, min=12045.6ms, max=12045.6ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=16.8ms, max=32.7ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4794.4ms, max=4794.4ms
+  task_sampling: mean=415.5ms, total=830.9ms, count=2, min=389.5ms, max=441.4ms
+  task_specific_sample: mean=411.8ms, total=823.6ms, count=2, min=385.2ms, max=438.5ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=453.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:02:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:02:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:02:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:02:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:02:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:02:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:02:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012898m	[env.py: 870]
+05/14 23:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:02:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02308822 -0.89461003  0.01289827] yaw=159.3deg	[env.py: 1019]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28924429 -0.61972036  0.01289827] yaw=-194.4deg	[env.py: 1019]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.37248336 -0.12729371  0.01289827] yaw=-159.5deg	[env.py: 1019]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:02:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.6ms	[env.py: 1075]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.023, -0.895, 0.013)	[env.py: 1079]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/14 23:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/14 23:02:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:02:58 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:02:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:02:58 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]
+05/14 23:02:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:02:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.764[m] 104.431[deg]	[grasp_sample.py: 539]
+05/14 23:03:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:03:02 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:03:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:03:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:02 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:03:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.70s:
+  episode_total: mean=146.09s, total=146.09s, count=1, min=146090.1ms, max=146090.1ms
+  sensor_polling: mean=424.3ms, total=127.30s, count=300, min=374.5ms, max=899.0ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.6ms, max=31.7ms
+  task_sampling: mean=697.5ms, total=697.5ms, count=1, min=697.5ms, max=697.5ms
+  task_specific_sample: mean=693.7ms, total=693.7ms, count=1, min=693.7ms, max=693.7ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=447.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=73.1us, 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]
+05/14 23:03:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084206m	[env.py: 870]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08433426 -0.79740193  0.08420563] yaw=-164.1deg	[env.py: 1019]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15084227 -1.12346708  0.08420563] yaw=165.2deg	[env.py: 1019]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.37955364  0.1019065   0.08420563] yaw=-101.6deg	[env.py: 1019]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.1ms, total=266.1ms	[env.py: 1075]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.084, -0.797, 0.084)	[env.py: 1079]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg	[env.py: 1082]
+05/14 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.159m	[env.py: 1086]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.698s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:03:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:03:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055842m	[env.py: 870]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.46069445 -0.21950922  0.05584188] yaw=-112.6deg	[env.py: 1019]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20309305 -0.73576949  0.05584188] yaw=-147.3deg	[env.py: 1019]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.32006508 -1.12169169  0.05584188] yaw=163.3deg	[env.py: 1019]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.2ms, total=223.2ms	[env.py: 1075]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.461, -0.220, 0.056)	[env.py: 1079]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.6 deg	[env.py: 1082]
+05/14 23:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:03:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.52s (batch: 4.19s, save: 12.33s)	[pipeline.py: 300]
+05/14 23:03:12 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.30s:
+  episode_total: mean=62.64s, total=187.92s, count=3, min=3493.1ms, max=180924.7ms
+  sensor_polling: mean=422.0ms, total=126.60s, count=300, min=398.1ms, max=827.6ms
+  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12331.6ms, max=12331.6ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=17.6ms, max=33.5ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.4ms, max=4188.4ms
+  task_sampling: mean=434.8ms, total=1.30s, count=3, min=377.9ms, max=504.1ms
+  task_specific_sample: mean=430.8ms, total=1.29s, count=3, min=374.4ms, max=499.8ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.6ms, max=2.6ms
+  mj_forward_sync: mean=469.8us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=38.2us, total=0.1ms, count=3, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 112.051[deg]	[grasp_sample.py: 539]
+05/14 23:03:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011896m	[env.py: 870]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 135.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30582372  0.02083246  0.01189637] yaw=-140.8deg	[env.py: 1019]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2240387  -1.2382543   0.01189637] yaw=153.5deg	[env.py: 1019]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.5ms, total=189.5ms	[env.py: 1075]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.306, 0.021, 0.012)	[env.py: 1079]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/14 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.136m	[env.py: 1086]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:14 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:14 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]
+05/14 23:03:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:03:16 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:03:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053964m	[env.py: 870]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1490704  -1.27255315  0.05396359] yaw=173.5deg	[env.py: 1019]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:03:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.91s (batch: 4.56s, save: 11.35s)	[pipeline.py: 300]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.51995284 -0.05470319  0.05396359] yaw=-127.1deg	[env.py: 1019]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.06448473 -0.72634639  0.05396359] yaw=-183.3deg	[env.py: 1019]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.4ms, total=185.5ms	[env.py: 1075]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.149, -1.273, 0.054)	[env.py: 1079]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg	[env.py: 1082]
+05/14 23:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:18 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:19 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.95s:
+  episode_total: mean=106.82s, total=213.64s, count=2, min=3303.9ms, max=210340.1ms
+  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=392.6ms, max=716.9ms
+  save_trajectories: mean=11.35s, total=11.35s, count=1, min=11350.5ms, max=11350.5ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=15.6ms, max=31.7ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4557.7ms, max=4557.7ms
+  task_sampling: mean=475.5ms, total=951.0ms, count=2, min=466.1ms, max=484.9ms
+  task_specific_sample: mean=471.9ms, total=943.8ms, count=2, min=462.2ms, max=481.6ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=449.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027358m	[env.py: 870]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30759998 -0.32619702 -0.02735812] yaw=-145.1deg	[env.py: 1019]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.2423997  -0.89579335 -0.02735812] yaw=186.4deg	[env.py: 1019]
+05/14 23:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.2ms	[env.py: 1075]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.308, -0.326, -0.027)	[env.py: 1079]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.1 deg	[env.py: 1082]
+05/14 23:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 90.350[deg]	[grasp_sample.py: 539]
+05/14 23:03:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:03:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.736s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 80.130[deg]	[grasp_sample.py: 539]
+05/14 23:03:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:04:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:04:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:04:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:49 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:04:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.027[m] 0.619[deg]	[grasp_sample.py: 539]
+05/14 23:04:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:04:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:04:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:05:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:38 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:05:50 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:05:51 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:05:51 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.49s:
+  episode_total: mean=173.69s, total=173.69s, count=1, min=173689.8ms, max=173689.8ms
+  sensor_polling: mean=441.6ms, total=132.48s, count=300, min=411.2ms, max=787.2ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=15.7ms, max=32.0ms
+  task_sampling: mean=494.7ms, total=494.7ms, count=1, min=494.7ms, max=494.7ms
+  task_specific_sample: mean=490.8ms, total=490.8ms, count=1, min=490.8ms, max=490.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=458.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:05:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:05:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:05:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:05:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:05:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:05:53 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: 273]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075521m	[env.py: 870]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:05:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05236435 -0.6174265   0.07552133] yaw=-140.6deg	[env.py: 1019]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12566219 -0.73243576  0.07552133] yaw=-148.4deg	[env.py: 1019]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:05:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=256.3ms, total=256.4ms	[env.py: 1075]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.052, -0.617, 0.076)	[env.py: 1079]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg	[env.py: 1082]
+05/14 23:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:05:53 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:05:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:05:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.748[m] 57.648[deg]	[grasp_sample.py: 539]
+05/14 23:05:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:05 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:06:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:06:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:06:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:06:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:06:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:06:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:06:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:06:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:06:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.84s (batch: 4.63s, save: 12.21s)	[pipeline.py: 300]
+05/14 23:06:23 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.51s:
+  episode_total: mean=182.46s, total=182.46s, count=1, min=182461.5ms, max=182461.5ms
+  sensor_polling: mean=416.4ms, total=124.92s, count=300, min=398.7ms, max=715.9ms
+  save_trajectories: mean=12.21s, total=12.21s, count=1, min=12205.7ms, max=12205.7ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=16.8ms, max=31.8ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4634.4ms, max=4634.4ms
+  task_sampling: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms
+  task_specific_sample: mean=505.7ms, total=505.7ms, count=1, min=505.7ms, max=505.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=457.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:06:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056177m	[env.py: 870]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.14769096 -0.62215469 -0.05617658] yaw=-161.7deg	[env.py: 1019]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 141.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.47799391  0.10171462 -0.05617658] yaw=-132.1deg	[env.py: 1019]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.01019073 -0.58521077 -0.05617658] yaw=-142.3deg	[env.py: 1019]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.0ms, total=181.1ms	[env.py: 1075]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.148, -0.622, -0.056)	[env.py: 1079]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/14 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:25 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.586[m] 83.749[deg]	[grasp_sample.py: 539]
+05/14 23:06:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:32 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:06:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:06:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:06:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:06:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:06:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.72s, save: 11.66s)	[pipeline.py: 300]
+05/14 23:06:35 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.05s:
+  episode_total: mean=104.25s, total=208.50s, count=2, min=3455.9ms, max=205040.0ms
+  sensor_polling: mean=486.7ms, total=146.02s, count=300, min=379.4ms, max=1008.9ms
+  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11661.9ms, max=11661.9ms
+  physics_step: mean=28.5ms, total=8.55s, count=300, min=17.7ms, max=36.9ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4716.2ms, max=4716.2ms
+  task_sampling: mean=522.7ms, total=1.05s, count=2, min=489.9ms, max=555.6ms
+  task_specific_sample: mean=519.5ms, total=1.04s, count=2, min=486.5ms, max=552.4ms
+  scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.2ms, max=1.4ms
+  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:06:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007270m	[env.py: 870]
+05/14 23:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.04135271 -0.66611148  0.00726979] yaw=-150.7deg	[env.py: 1019]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0302198  -1.28318364  0.00726979] yaw=131.4deg	[env.py: 1019]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30511187 -0.41704575  0.00726979] yaw=-164.0deg	[env.py: 1019]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.9ms, total=142.9ms	[env.py: 1075]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.041, -0.666, 0.007)	[env.py: 1079]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
+05/14 23:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.126m	[env.py: 1086]
+05/14 23:06:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:37 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:06:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.815s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:06:40 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:06:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053645m	[env.py: 870]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22198901 -1.06623053  0.05364495] yaw=156.1deg	[env.py: 1019]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.31044211 -1.13268199  0.05364495] yaw=178.8deg	[env.py: 1019]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04230117 -1.12045944  0.05364495] yaw=167.6deg	[env.py: 1019]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.4ms	[env.py: 1075]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.222, -1.066, 0.054)	[env.py: 1079]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.1 deg	[env.py: 1082]
+05/14 23:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:43 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:43 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]
+05/14 23:06:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.869s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.556[m] 127.094[deg]	[grasp_sample.py: 539]
+05/14 23:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:06:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:06:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:06:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.60s (batch: 3.76s, save: 11.85s)	[pipeline.py: 300]
+05/14 23:06:48 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.96s:
+  episode_total: mean=106.90s, total=213.79s, count=2, min=3242.2ms, max=210548.6ms
+  sensor_polling: mean=515.4ms, total=154.61s, count=300, min=416.3ms, max=907.4ms
+  save_trajectories: mean=11.85s, total=11.85s, count=1, min=11846.6ms, max=11846.6ms
+  physics_step: mean=28.7ms, total=8.61s, count=300, min=17.8ms, max=37.6ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.9ms, max=3756.9ms
+  task_sampling: mean=477.8ms, total=955.6ms, count=2, min=464.6ms, max=491.1ms
+  task_specific_sample: mean=474.2ms, total=948.4ms, count=2, min=461.3ms, max=487.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=451.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:06:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:50 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: 273]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081025m	[env.py: 870]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24854937 -1.1328364   0.08102491] yaw=178.1deg	[env.py: 1019]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.05391866 -0.95711559  0.08102491] yaw=177.0deg	[env.py: 1019]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=179.7ms, total=179.8ms	[env.py: 1075]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.249, -1.133, 0.081)	[env.py: 1079]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.1 deg	[env.py: 1082]
+05/14 23:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:50 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:06:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.086s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.594[m] 76.031[deg]	[grasp_sample.py: 539]
+05/14 23:06:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:07:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:07:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:07:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:08:52 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]
+05/14 23:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:08:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 1.027[deg]	[grasp_sample.py: 539]
+05/14 23:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:08:54 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/14 23:08:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:08:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:08:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:08:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:08:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:08:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036482m	[env.py: 870]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:08:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32659263 -0.38605252 -0.03648153] yaw=-161.7deg	[env.py: 1019]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.5408443  -0.0958062  -0.03648153] yaw=-153.6deg	[env.py: 1019]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0878662  -1.16669073 -0.03648153] yaw=153.4deg	[env.py: 1019]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:08:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.7ms, total=180.7ms	[env.py: 1075]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.327, -0.386, -0.036)	[env.py: 1079]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/14 23:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:08:56 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:08:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:08:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:08:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:08:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:08:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 71.824[deg]	[grasp_sample.py: 539]
+05/14 23:08:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 101.014s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:57 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/14 23:08:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:08:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:08:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:08:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:08:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:08:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:08:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:08:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047613m	[env.py: 870]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:08:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15930732 -0.3743037  -0.04761293] yaw=-167.0deg	[env.py: 1019]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05980143 -1.16924936 -0.04761293] yaw=154.6deg	[env.py: 1019]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.31156392 -1.06375888 -0.04761293] yaw=170.4deg	[env.py: 1019]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:08:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=236.0ms, total=236.0ms	[env.py: 1075]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.159, -0.374, -0.048)	[env.py: 1079]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg	[env.py: 1082]
+05/14 23:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:08:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:09:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.574[m] 85.030[deg]	[grasp_sample.py: 539]
+05/14 23:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:04 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:09:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:09:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:09:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:09:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063461m	[env.py: 870]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.48981819 -0.21168388 -0.06346145] yaw=-127.9deg	[env.py: 1019]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30778994 -0.11289786 -0.06346145] yaw=-116.0deg	[env.py: 1019]
+05/14 23:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.9ms, total=229.9ms	[env.py: 1075]
+05/14 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.490, -0.212, -0.063)	[env.py: 1079]
+05/14 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.9 deg	[env.py: 1082]
+05/14 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/14 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:09:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.107s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:06 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.109[deg]	[grasp_sample.py: 539]
+05/14 23:09:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.029s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 90.726[deg]	[grasp_sample.py: 539]
+05/14 23:09:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:08 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:09:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:09:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:09:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015371m	[env.py: 870]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20425702 -0.72492331  0.01537101] yaw=-178.4deg	[env.py: 1019]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03067212 -1.34763987  0.01537101] yaw=136.5deg	[env.py: 1019]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.20863848 -0.30628784  0.01537101] yaw=-158.2deg	[env.py: 1019]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=228.4ms, total=228.4ms	[env.py: 1075]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.204, -0.725, 0.015)	[env.py: 1079]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg	[env.py: 1082]
+05/14 23:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:11 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:09:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:09:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:09:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:09:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.534[m] 77.437[deg]	[grasp_sample.py: 539]
+05/14 23:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:09:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:09:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:09:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.59s (batch: 4.39s, save: 11.20s)	[pipeline.py: 300]
+05/14 23:09:27 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.49s:
+  episode_total: mean=183.26s, total=183.26s, count=1, min=183257.1ms, max=183257.1ms
+  sensor_polling: mean=418.8ms, total=125.63s, count=300, min=397.0ms, max=742.8ms
+  save_trajectories: mean=11.20s, total=11.20s, count=1, min=11204.1ms, max=11204.1ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.7ms, max=36.0ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.0ms, max=4389.0ms
+  task_sampling: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms
+  task_specific_sample: mean=484.0ms, total=484.0ms, count=1, min=484.0ms, max=484.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=451.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:09:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:29 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: 195]
+05/14 23:09:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098541m	[env.py: 870]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.4333797  -0.07486566  0.09854117] yaw=-121.8deg	[env.py: 1019]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13628621 -1.26321915  0.09854117] yaw=139.0deg	[env.py: 1019]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.04807692 -0.5824958   0.09854117] yaw=-173.4deg	[env.py: 1019]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.8ms	[env.py: 1075]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.433, -0.075, 0.099)	[env.py: 1079]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.8 deg	[env.py: 1082]
+05/14 23:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:29 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:29 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]
+05/14 23:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:32 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.679[m] 115.796[deg]	[grasp_sample.py: 539]
+05/14 23:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:09:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:09:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:10:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:10:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:10:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:14 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:11:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:11:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:11:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:11:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:11:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:11:29 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]
+05/14 23:11:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.055[deg]	[grasp_sample.py: 539]
+05/14 23:11:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 1.105[deg]	[grasp_sample.py: 539]
+05/14 23:11:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:11:31 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:11:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:11:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:11:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069192m	[env.py: 870]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03589747 -1.17707155  0.06919158] yaw=145.5deg	[env.py: 1019]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25773758 -0.8686406   0.06919158] yaw=173.2deg	[env.py: 1019]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=206.6ms, total=206.7ms	[env.py: 1075]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.036, -1.177, 0.069)	[env.py: 1079]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.5 deg	[env.py: 1082]
+05/14 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:33 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:33 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]
+05/14 23:11:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:34 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.729[m] 112.883[deg]	[grasp_sample.py: 539]
+05/14 23:11:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:11:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:11:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:44 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:11:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:11:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:11:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:11:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.669s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:49 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.063[m] 10.563[deg]	[grasp_sample.py: 539]
+05/14 23:11:51 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:11:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:11:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006595m	[env.py: 870]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.24043972 -0.02404134  0.0065947 ] yaw=-133.3deg	[env.py: 1019]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18035508 -0.93176449  0.0065947 ] yaw=157.9deg	[env.py: 1019]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05159359 -0.85602733  0.0065947 ] yaw=192.6deg	[env.py: 1019]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms	[env.py: 1075]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.240, -0.024, 0.007)	[env.py: 1079]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg	[env.py: 1082]
+05/14 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.150m	[env.py: 1086]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.737s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:11:55 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:11:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:11:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095776m	[env.py: 870]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.45689948  0.10860326  0.09577551] yaw=-140.3deg	[env.py: 1019]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21734564 -0.66898123  0.09577551] yaw=-175.4deg	[env.py: 1019]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.22996755 -1.03494279  0.09577551] yaw=155.4deg	[env.py: 1019]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.2ms, total=214.2ms	[env.py: 1075]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.457, 0.109, 0.096)	[env.py: 1079]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg	[env.py: 1082]
+05/14 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.112m	[env.py: 1086]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:11:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.667s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:12:00 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009063m	[env.py: 870]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26562696 -0.13432758  0.00906268] yaw=-124.7deg	[env.py: 1019]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.0612759  -0.76424373  0.00906268] yaw=-184.5deg	[env.py: 1019]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.9ms, total=197.0ms	[env.py: 1075]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.266, -0.134, 0.009)	[env.py: 1079]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.7 deg	[env.py: 1082]
+05/14 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:12:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:12:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.43s (batch: 4.90s, save: 12.53s)	[pipeline.py: 300]
+05/14 23:12:02 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:12:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:12:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:12:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:02 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.36s:
+  episode_total: mean=107.35s, total=322.05s, count=3, min=3434.5ms, max=187248.6ms
+  sensor_polling: mean=420.0ms, total=236.02s, count=562, min=384.1ms, max=1272.8ms
+  physics_step: mean=24.9ms, total=13.97s, count=562, min=17.2ms, max=40.6ms
+  save_trajectories: mean=12.53s, total=12.53s, count=1, min=12532.9ms, max=12532.9ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4895.4ms, max=4895.4ms
+  task_sampling: mean=453.3ms, total=1.36s, count=3, min=390.5ms, max=542.1ms
+  task_specific_sample: mean=449.7ms, total=1.35s, count=3, min=386.7ms, max=539.2ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=450.8us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:12:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078427m	[env.py: 870]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.47407356  0.11498089 -0.07842658] yaw=-121.0deg	[env.py: 1019]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.44422982 -0.1399601  -0.07842658] yaw=-139.1deg	[env.py: 1019]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04417652 -0.81392832 -0.07842658] yaw=-183.6deg	[env.py: 1019]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.7ms, total=130.7ms	[env.py: 1075]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.474, 0.115, -0.078)	[env.py: 1079]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.0 deg	[env.py: 1082]
+05/14 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.108m	[env.py: 1086]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:04 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.678[m] 108.882[deg]	[grasp_sample.py: 539]
+05/14 23:12:06 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:12:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.681s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:12:07 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:12:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000946m	[env.py: 870]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15544407 -0.46648728  0.00094614] yaw=-130.7deg	[env.py: 1019]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21123567 -0.75832573  0.00094614] yaw=-149.0deg	[env.py: 1019]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-2.40674762e-02 -1.08780539e+00  9.46141030e-04] yaw=154.2deg	[env.py: 1019]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.5ms, total=232.5ms	[env.py: 1075]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.155, -0.466, 0.001)	[env.py: 1079]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg	[env.py: 1082]
+05/14 23:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:08 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:08 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]
+05/14 23:12:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039401m	[env.py: 870]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27882896 -0.64596225 -0.03940136] yaw=-178.2deg	[env.py: 1019]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04832383 -0.82852245 -0.03940136] yaw=197.5deg	[env.py: 1019]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.23756693  0.02691435 -0.03940136] yaw=-130.9deg	[env.py: 1019]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.5ms, total=256.6ms	[env.py: 1075]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.279, -0.646, -0.039)	[env.py: 1079]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.2 deg	[env.py: 1082]
+05/14 23:12:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:09 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.231s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.682[m] 95.449[deg]	[grasp_sample.py: 539]
+05/14 23:12:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:12:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:12:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 88.608[deg]	[grasp_sample.py: 539]
+05/14 23:12:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:12:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:12:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:12:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:12:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:12:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.36s (batch: 4.57s, save: 11.78s)	[pipeline.py: 300]
+05/14 23:12:19 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.70s:
+  episode_total: mean=127.58s, total=382.75s, count=3, min=4712.1ms, max=193721.7ms
+  sensor_polling: mean=425.6ms, total=186.43s, count=438, min=392.3ms, max=909.3ms
+  save_trajectories: mean=11.78s, total=11.78s, count=1, min=11784.7ms, max=11784.7ms
+  physics_step: mean=23.7ms, total=10.38s, count=438, min=17.5ms, max=71.6ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4574.3ms, max=4574.3ms
+  task_sampling: mean=565.7ms, total=1.70s, count=3, min=517.9ms, max=601.8ms
+  task_specific_sample: mean=561.2ms, total=1.68s, count=3, min=513.2ms, max=596.7ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=507.4us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:12:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032203m	[env.py: 870]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27656488 -0.92401285  0.03220305] yaw=194.7deg	[env.py: 1019]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16028524 -0.60214254  0.03220305] yaw=-188.9deg	[env.py: 1019]
+05/14 23:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.5ms	[env.py: 1075]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.277, -0.924, 0.032)	[env.py: 1079]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 194.7 deg	[env.py: 1082]
+05/14 23:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:21 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 94.168[deg]	[grasp_sample.py: 539]
+05/14 23:12:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:12:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:12:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:12:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:13:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:13:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:13:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:13:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:13:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:13:29 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.055[m] 0.709[deg]	[grasp_sample.py: 539]
+05/14 23:13:30 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:13:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:13:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:13:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:13:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:13:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:13:32 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: 273]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020682m	[env.py: 870]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:13:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.30827113 -0.26654167  0.02068172] yaw=-117.5deg	[env.py: 1019]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12038633 -0.41118022  0.02068172] yaw=-176.6deg	[env.py: 1019]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:13:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=486.5ms, total=486.5ms	[env.py: 1075]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.308, -0.267, 0.021)	[env.py: 1079]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.5 deg	[env.py: 1082]
+05/14 23:13:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:13:33 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:13:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.158s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:13:33 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]
+05/14 23:13:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:13:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:13:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.243s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:13:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.473[m] 71.781[deg]	[grasp_sample.py: 539]
+05/14 23:13:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:13:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:13:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:14:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:14:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:10 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.743[deg]	[grasp_sample.py: 539]
+05/14 23:14:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:14:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:14:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:21 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:14:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:14:32 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:14:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:14:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:14:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:15:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:15:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:15:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:15:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:15:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.00s (batch: 4.64s, save: 11.37s)	[pipeline.py: 300]
+05/14 23:15:05 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.22s:
+  episode_total: mean=66.07s, total=330.35s, count=5, min=3278.0ms, max=177287.2ms
+  sensor_polling: mean=410.6ms, total=237.32s, count=578, min=385.1ms, max=747.1ms
+  physics_step: mean=22.7ms, total=13.13s, count=578, min=16.7ms, max=31.2ms
+  save_trajectories: mean=11.37s, total=11.37s, count=1, min=11367.6ms, max=11367.6ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4636.4ms, max=4636.4ms
+  task_sampling: mean=444.8ms, total=2.22s, count=5, min=392.3ms, max=500.8ms
+  task_specific_sample: mean=441.4ms, total=2.21s, count=5, min=388.5ms, max=497.0ms
+  scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=470.3us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.4us, 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]
+05/14 23:15:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:15:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:15:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:15:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:15:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:15:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:15:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.087m, effective arm-mount z=0.773m (base_body_z=-0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086609m	[env.py: 870]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:15:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.238434   -0.61218593 -0.08660855] yaw=-155.4deg	[env.py: 1019]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.27529327 -0.01395831 -0.08660855] yaw=-158.8deg	[env.py: 1019]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25430669 -0.12033806 -0.08660855] yaw=-112.0deg	[env.py: 1019]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.0ms, total=184.0ms	[env.py: 1075]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.238, -0.612, -0.087)	[env.py: 1079]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
+05/14 23:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/14 23:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:15:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:15:07 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:15:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:15:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:15:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:15:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 107.508[deg]	[grasp_sample.py: 539]
+05/14 23:15:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:15:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:15:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:15:14 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:15:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:15:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:15:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 18.32s (batch: 6.88s, save: 11.44s)	[pipeline.py: 300]
+05/14 23:15:22 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.94s:
+  episode_total: mean=98.41s, total=196.81s, count=2, min=3312.5ms, max=193499.4ms
+  sensor_polling: mean=439.7ms, total=131.91s, count=300, min=385.6ms, max=1234.3ms
+  save_trajectories: mean=11.44s, total=11.44s, count=1, min=11443.0ms, max=11443.0ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.9ms, max=68.6ms
+  save_batch_prep: mean=6.88s, total=6.88s, count=1, min=6875.2ms, max=6875.2ms
+  task_sampling: mean=470.3ms, total=940.5ms, count=2, min=421.1ms, max=519.4ms
+  task_specific_sample: mean=466.8ms, total=933.6ms, count=2, min=417.2ms, max=516.4ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=450.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.5us, 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]
+05/14 23:15:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:15:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:15:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:15:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:15:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:15:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:15:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056205m	[env.py: 870]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:15:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.52105206  0.0030961   0.05620508] yaw=-109.0deg	[env.py: 1019]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.22054193 -0.10354534  0.05620508] yaw=-124.1deg	[env.py: 1019]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:15:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms	[env.py: 1075]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.521, 0.003, 0.056)	[env.py: 1079]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.0 deg	[env.py: 1082]
+05/14 23:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:15:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:15:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:15:24 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:15:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:15:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:15:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:15:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:15:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:15:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.669[m] 99.992[deg]	[grasp_sample.py: 539]
+05/14 23:15:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:15:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:15:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:15:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:15:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:15:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:15:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:15:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:15:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.10s (batch: 4.67s, save: 11.43s)	[pipeline.py: 300]
+05/14 23:15:59 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=218.62s, total=218.62s, count=1, min=218620.2ms, max=218620.2ms
+  sensor_polling: mean=437.7ms, total=131.32s, count=300, min=389.4ms, max=820.6ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11427.9ms, max=11427.9ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=15.1ms, max=34.2ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4667.2ms, max=4667.2ms
+  task_sampling: mean=487.2ms, total=487.2ms, count=1, min=487.2ms, max=487.2ms
+  task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=449.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:16:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:16:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:16:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:16:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:16:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:16:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097006m	[env.py: 870]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:16:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.37926668 -0.34412625 -0.09700608] yaw=-120.9deg	[env.py: 1019]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.30748236 -0.09361177 -0.09700608] yaw=-118.5deg	[env.py: 1019]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19611075 -0.59393004 -0.09700608] yaw=-157.4deg	[env.py: 1019]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:16:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.9ms	[env.py: 1075]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.379, -0.344, -0.097)	[env.py: 1079]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg	[env.py: 1082]
+05/14 23:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:16:01 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:16:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:16:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:16:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.250s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.384[m] 64.811[deg]	[grasp_sample.py: 539]
+05/14 23:16:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:16:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:16:14 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]
+05/14 23:16:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.104[m] 1.500[deg]	[grasp_sample.py: 539]
+05/14 23:16:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:16:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:16:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:16:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:16:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:16:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:16:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:16:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:16:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:16:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:51 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.699s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.431[deg]	[grasp_sample.py: 539]
+05/14 23:16:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:17:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:17:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.95s (batch: 4.80s, save: 11.15s)	[pipeline.py: 300]
+05/14 23:17:05 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.60s:
+  episode_total: mean=152.40s, total=609.61s, count=4, min=117882.4ms, max=213159.3ms
+  sensor_polling: mean=458.6ms, total=458.58s, count=1000, min=398.2ms, max=1008.8ms
+  physics_step: mean=24.7ms, total=24.70s, count=1000, min=16.8ms, max=64.8ms
+  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11151.5ms, max=11151.5ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4801.7ms, max=4801.7ms
+  task_sampling: mean=648.7ms, total=2.59s, count=4, min=496.6ms, max=800.7ms
+  task_specific_sample: mean=640.9ms, total=2.56s, count=4, min=492.4ms, max=792.0ms
+  scene_randomize: mean=3.8ms, total=15.2ms, count=4, min=2.1ms, max=7.9ms
+  mj_forward_sync: mean=623.5us, total=2.5ms, count=4, min=0.5ms, max=0.8ms
+  policy_setup: mean=30.4us, 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]
+05/14 23:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:17:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:17:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:17:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096025m	[env.py: 870]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11511717 -1.08936522 -0.09602487] yaw=150.7deg	[env.py: 1019]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.10087444 -0.58899161 -0.09602487] yaw=-169.4deg	[env.py: 1019]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:17:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=273.6ms, total=273.6ms	[env.py: 1075]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.115, -1.089, -0.096)	[env.py: 1079]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.7 deg	[env.py: 1082]
+05/14 23:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/14 23:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:17:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.179s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:17:08 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]
+05/14 23:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:10 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.546[m] 68.463[deg]	[grasp_sample.py: 539]
+05/14 23:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:17:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:17:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:17:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.410[deg]	[grasp_sample.py: 539]
+05/14 23:17:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:23 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:17:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:17:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:17:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:18:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:18:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:18:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:18:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:18:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.64s (batch: 4.31s, save: 11.33s)	[pipeline.py: 300]
+05/14 23:18:07 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s:
+  episode_total: mean=180.14s, total=180.14s, count=1, min=180137.6ms, max=180137.6ms
+  sensor_polling: mean=419.0ms, total=125.69s, count=300, min=392.6ms, max=713.3ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11332.7ms, max=11332.7ms
+  physics_step: mean=23.3ms, total=7.00s, count=300, min=16.7ms, max=32.1ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.0ms, max=4311.0ms
+  task_sampling: mean=487.0ms, total=487.0ms, count=1, min=487.0ms, max=487.0ms
+  task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=447.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:18:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.867s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:18:07 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:18:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:18:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:18:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:18:08 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: 273]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076508m	[env.py: 870]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.44278078 -0.18323568  0.07650776] yaw=-127.4deg	[env.py: 1019]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09436882 -0.75221355  0.07650776] yaw=-154.1deg	[env.py: 1019]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.8ms	[env.py: 1075]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.443, -0.183, 0.077)	[env.py: 1079]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg	[env.py: 1082]
+05/14 23:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:18:08 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:18:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:18:08 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]
+05/14 23:18:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 78.142[deg]	[grasp_sample.py: 539]
+05/14 23:18:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:18:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:18:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:18:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:18:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:18:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031214m	[env.py: 870]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:18:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07494851 -0.70240543 -0.0312139 ] yaw=-158.8deg	[env.py: 1019]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.43105411 -0.03143407 -0.0312139 ] yaw=-109.9deg	[env.py: 1019]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06133512 -0.89734017 -0.0312139 ] yaw=151.6deg	[env.py: 1019]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:18:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.7ms, total=107.8ms	[env.py: 1075]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -0.702, -0.031)	[env.py: 1079]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.8 deg	[env.py: 1082]
+05/14 23:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m	[env.py: 1086]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:18:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:18:10 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:18:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:18:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.740s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:18:13 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:18:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:18:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:18:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:18:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:18:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:18:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047369m	[env.py: 870]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:18:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 134.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00468955 -0.64982822 -0.04736866] yaw=-181.7deg	[env.py: 1019]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00121712 -0.40814743 -0.04736866] yaw=-159.7deg	[env.py: 1019]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.4ms, total=188.4ms	[env.py: 1075]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.005, -0.650, -0.047)	[env.py: 1079]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.7 deg	[env.py: 1082]
+05/14 23:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:18:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:18:15 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:18:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:18:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:18:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:18:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:18:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.761[m] 87.655[deg]	[grasp_sample.py: 539]
+05/14 23:18:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:18:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:18:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:18:22 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:18:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:18:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:18:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:18:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:19:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:19:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:19:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 18.07s (batch: 4.94s, save: 13.14s)	[pipeline.py: 300]
+05/14 23:19:08 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s:
+  episode_total: mean=187.55s, total=187.55s, count=1, min=187546.0ms, max=187546.0ms
+  sensor_polling: mean=428.0ms, total=128.39s, count=300, min=395.8ms, max=811.5ms
+  save_trajectories: mean=13.14s, total=13.14s, count=1, min=13138.7ms, max=13138.7ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.9ms, max=30.3ms
+  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4935.6ms, max=4935.6ms
+  task_sampling: mean=379.2ms, total=379.2ms, count=1, min=379.2ms, max=379.2ms
+  task_specific_sample: mean=374.9ms, total=374.9ms, count=1, min=374.9ms, max=374.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:19:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:19:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:19:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:19:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:19:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:19:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024350m	[env.py: 870]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:19:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23697336 -0.41339872 -0.02434952] yaw=-156.9deg	[env.py: 1019]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08229536 -0.99391178 -0.02434952] yaw=178.5deg	[env.py: 1019]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.29323571 -0.28093976 -0.02434952] yaw=-119.2deg	[env.py: 1019]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:19:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=265.2ms, total=265.2ms	[env.py: 1075]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.237, -0.413, -0.024)	[env.py: 1079]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg	[env.py: 1082]
+05/14 23:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/14 23:19:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:19:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:19:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:19:10 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:19:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:19:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:19:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:19:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:19:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:19:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 114.821[deg]	[grasp_sample.py: 539]
+05/14 23:19:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:19:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:19:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:19:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:19:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:20:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:20:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:20:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:20:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:20:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:20:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:20:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:20:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:20:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:20:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:20:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:20:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.121[deg]	[grasp_sample.py: 539]
+05/14 23:20:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:20:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:20:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.25s (batch: 4.39s, save: 10.86s)	[pipeline.py: 300]
+05/14 23:20:29 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.01s:
+  episode_total: mean=202.94s, total=202.94s, count=1, min=202936.4ms, max=202936.4ms
+  sensor_polling: mean=444.6ms, total=133.39s, count=300, min=409.8ms, max=973.2ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10858.6ms, max=10858.6ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=16.8ms, max=48.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4388.5ms, max=4388.5ms
+  task_sampling: mean=1.01s, total=1.01s, count=1, min=1010.1ms, max=1010.1ms
+  task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1005.5ms, max=1005.5ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=462.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:20:30 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:20:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053646m	[env.py: 870]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05258691 -0.78871142  0.05364576] yaw=-201.5deg	[env.py: 1019]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:20:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.1ms, total=215.1ms	[env.py: 1075]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.053, -0.789, 0.054)	[env.py: 1079]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.5 deg	[env.py: 1082]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.127m	[env.py: 1086]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:20:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007311m	[env.py: 870]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:20:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:20:31 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17584647 -0.63996046 -0.00731055] yaw=-179.5deg	[env.py: 1019]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03294478 -0.8947121  -0.00731055] yaw=174.1deg	[env.py: 1019]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12127516 -1.16529746 -0.00731055] yaw=157.3deg	[env.py: 1019]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:20:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.5ms, total=136.6ms	[env.py: 1075]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.176, -0.640, -0.007)	[env.py: 1079]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.5 deg	[env.py: 1082]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:20:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:20:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:20:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:20:32 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:20:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.601[m] 74.772[deg]	[grasp_sample.py: 539]
+05/14 23:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:20:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:20:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.891[m] 110.709[deg]	[grasp_sample.py: 539]
+05/14 23:20:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:20:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:20:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:20:37 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:21:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:21:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:21:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:21:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:21:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:21:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.97s (batch: 4.61s, save: 12.36s)	[pipeline.py: 300]
+05/14 23:21:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:25 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.54s:
+  episode_total: mean=118.86s, total=356.58s, count=3, min=3382.9ms, max=190027.5ms
+  sensor_polling: mean=435.0ms, total=253.61s, count=583, min=387.2ms, max=1290.2ms
+  physics_step: mean=23.8ms, total=13.85s, count=583, min=16.0ms, max=33.3ms
+  save_trajectories: mean=12.36s, total=12.36s, count=1, min=12360.3ms, max=12360.3ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4606.8ms, max=4606.8ms
+  task_sampling: mean=512.9ms, total=1.54s, count=3, min=454.2ms, max=599.9ms
+  task_specific_sample: mean=508.7ms, total=1.53s, count=3, min=450.0ms, max=595.6ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=463.0us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=34.9us, total=0.1ms, count=3, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:21:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:21:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:21:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:21:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:21:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:21:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:21:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021719m	[env.py: 870]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:21:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09752231 -0.44277781 -0.0217193 ] yaw=-181.0deg	[env.py: 1019]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19355413 -0.09300426 -0.0217193 ] yaw=-157.0deg	[env.py: 1019]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18814333 -1.23039029 -0.0217193 ] yaw=167.2deg	[env.py: 1019]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:21:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.0ms, total=180.0ms	[env.py: 1075]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.098, -0.443, -0.022)	[env.py: 1079]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.0 deg	[env.py: 1082]
+05/14 23:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:21:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:21:27 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:21:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:21:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:21:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:21:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:21:31 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:21:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.998s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:21:32 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.729[m] 102.448[deg]	[grasp_sample.py: 539]
+05/14 23:21:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:21:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:21:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:58 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:21:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:21:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:22:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:22:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:22:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:22:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.07s (batch: 4.44s, save: 11.64s)	[pipeline.py: 300]
+05/14 23:22:15 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
+  episode_total: mean=185.53s, total=185.53s, count=1, min=185532.3ms, max=185532.3ms
+  sensor_polling: mean=431.8ms, total=129.55s, count=300, min=401.1ms, max=771.7ms
+  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11636.2ms, max=11636.2ms
+  physics_step: mean=24.3ms, total=7.28s, count=300, min=17.0ms, max=38.4ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4437.8ms, max=4437.8ms
+  task_sampling: mean=578.9ms, total=578.9ms, count=1, min=578.9ms, max=578.9ms
+  task_specific_sample: mean=574.3ms, total=574.3ms, count=1, min=574.3ms, max=574.3ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=593.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:22:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:22:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:22:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:22:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:22:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:22:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:22:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.051m, effective arm-mount z=0.809m (base_body_z=-0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051472m	[env.py: 870]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:22:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10903247 -1.3164825  -0.05147245] yaw=177.1deg	[env.py: 1019]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:22:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.4568019   0.08609166 -0.05147245] yaw=-139.9deg	[env.py: 1019]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.22951028 -1.17259892 -0.05147245] yaw=130.7deg	[env.py: 1019]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.2ms, total=172.2ms	[env.py: 1075]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.109, -1.316, -0.051)	[env.py: 1079]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg	[env.py: 1082]
+05/14 23:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:22:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:22:17 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:22:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:22:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:22:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.686s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:22:20 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.801[m] 52.480[deg]	[grasp_sample.py: 539]
+05/14 23:22:21 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:22:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:22:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:22:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:22:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:22:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:22:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:22:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013788m	[env.py: 870]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:22:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20232776 -0.27713742 -0.01378755] yaw=-135.3deg	[env.py: 1019]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25443915 -1.12785394 -0.01378755] yaw=171.4deg	[env.py: 1019]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12339157 -0.61136195 -0.01378755] yaw=-169.4deg	[env.py: 1019]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.9ms, total=124.9ms	[env.py: 1075]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.202, -0.277, -0.014)	[env.py: 1079]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg	[env.py: 1082]
+05/14 23:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:22:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:22:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:22:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:22:23 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]
+05/14 23:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:22:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:22:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 60.236[deg]	[grasp_sample.py: 539]
+05/14 23:22:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:22:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:22:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:22:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:22:55 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:22:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.52s:
+  episode_total: mean=143.87s, total=143.87s, count=1, min=143874.5ms, max=143874.5ms
+  sensor_polling: mean=434.6ms, total=130.39s, count=300, min=402.2ms, max=959.2ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=18.0ms, max=70.1ms
+  task_sampling: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms
+  task_specific_sample: mean=518.2ms, total=518.2ms, count=1, min=518.2ms, max=518.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=461.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:22:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:22:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:22:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:22:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:22:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:22:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:22:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071736m	[env.py: 870]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:22:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02715629 -1.3847561  -0.07173628] yaw=132.2deg	[env.py: 1019]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:22:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=284.8ms, total=284.8ms	[env.py: 1075]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.027, -1.385, -0.072)	[env.py: 1079]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.2 deg	[env.py: 1082]
+05/14 23:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:22:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:22:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:22:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:22:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:22:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:22:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:22:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.750s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:23:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:23:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:23:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:23:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:23:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:23:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:23:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052022m	[env.py: 870]
+05/14 23:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:23:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01364232 -1.30890845 -0.05202195] yaw=163.3deg	[env.py: 1019]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12538193 -0.35572295 -0.05202195] yaw=-177.8deg	[env.py: 1019]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.02802525 -1.31486311 -0.05202195] yaw=177.5deg	[env.py: 1019]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:23:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms	[env.py: 1075]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.014, -1.309, -0.052)	[env.py: 1079]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.3 deg	[env.py: 1082]
+05/14 23:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.170m	[env.py: 1086]
+05/14 23:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:23:03 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:23:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:23:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:23:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:23:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.736s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:23:06 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:23:09 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:23:09 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:23:09 INFO: [Worker 0] Worker 0 completed house 1: 6/7 successful episodes	[pipeline.py: 1323]
+05/14 23:23:09 INFO: [Worker 0] [PROFILE] House 1 complete: 6/7 successful, 7 episodes, total_time=3576.64s
+  House averages:
+  episode_total: mean=110.31s, total=1985.64s, count=18, min=3242.2ms, max=239632.8ms
+  sensor_polling: mean=459.2ms, total=1389.15s, count=3025, min=398.1ms, max=1008.8ms
+  physics_step: mean=25.2ms, total=76.24s, count=3025, min=15.2ms, max=70.1ms
+  save_trajectories: mean=11.64s, total=69.87s, count=6, min=10858.6ms, max=12436.0ms
+  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3756.9ms, max=4801.7ms
+  task_sampling: mean=724.6ms, total=13.04s, count=18, min=377.9ms, max=3372.2ms
+  task_specific_sample: mean=557.0ms, total=10.03s, count=18, min=374.4ms, max=1005.5ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2926.1ms, max=2926.1ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1848.5ms, max=1848.5ms
+  scene_compile: mean=883.8ms, total=883.8ms, count=1, min=883.8ms, max=883.8ms
+  compile_mujoco: mean=623.5ms, total=623.5ms, count=1, min=623.5ms, max=623.5ms
+  compile_xml_load: mean=187.3ms, total=187.3ms, count=1, min=187.3ms, max=187.3ms
+  scene_init: mean=132.4ms, total=132.4ms, count=1, min=132.4ms, max=132.4ms
+  scene_asset_install: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.2ms, max=7.9ms
+  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms
+  mj_forward_sync: mean=507.8us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  asset_install_scene: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=27.1us, 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]
+05/14 23:23:09 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:23:09 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 7 episodes, total_time=3576.64s
+  Worker averages:
+  episode_total: mean=110.31s, total=1985.64s, count=18, min=3242.2ms, max=239632.8ms
+  sensor_polling: mean=459.2ms, total=1389.15s, count=3025, min=398.1ms, max=1008.8ms
+  physics_step: mean=25.2ms, total=76.24s, count=3025, min=15.2ms, max=70.1ms
+  save_trajectories: mean=11.64s, total=69.87s, count=6, min=10858.6ms, max=12436.0ms
+  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3756.9ms, max=4801.7ms
+  task_sampling: mean=724.6ms, total=13.04s, count=18, min=377.9ms, max=3372.2ms
+  task_specific_sample: mean=557.0ms, total=10.03s, count=18, min=374.4ms, max=1005.5ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2926.1ms, max=2926.1ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1848.5ms, max=1848.5ms
+  scene_compile: mean=883.8ms, total=883.8ms, count=1, min=883.8ms, max=883.8ms
+  compile_mujoco: mean=623.5ms, total=623.5ms, count=1, min=623.5ms, max=623.5ms
+  compile_xml_load: mean=187.3ms, total=187.3ms, count=1, min=187.3ms, max=187.3ms
+  scene_init: mean=132.4ms, total=132.4ms, count=1, min=132.4ms, max=132.4ms
+  scene_asset_install: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.2ms, max=7.9ms
+  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms
+  mj_forward_sync: mean=507.8us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  asset_install_scene: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=27.1us, 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]
+05/14 23:23:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:23:13 INFO: Success count: 6, Total count: 7	[pipeline.py: 1491]
+05/14 23:23:13 INFO: Success rate: 85.71%	[pipeline.py: 1492]
+05/14 23:23:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:23:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:23:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:45 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:23:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:23:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:23:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:24:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:24:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:24:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.52s (batch: 4.42s, save: 11.10s)	[pipeline.py: 300]
+05/14 23:24:01 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.90s:
+  episode_total: mean=175.83s, total=351.66s, count=2, min=141869.6ms, max=209794.1ms
+  sensor_polling: mean=419.1ms, total=244.33s, count=583, min=387.2ms, max=828.6ms
+  physics_step: mean=23.8ms, total=13.87s, count=583, min=18.6ms, max=35.9ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11104.6ms, max=11104.6ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4415.3ms, max=4415.3ms
+  task_sampling: mean=448.7ms, total=897.4ms, count=2, min=413.8ms, max=483.6ms
+  task_specific_sample: mean=444.9ms, total=889.9ms, count=2, min=410.1ms, max=479.8ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=461.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:24:02 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:24:02 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:24:02 INFO: [Worker 0] Worker 0 completed house 1: 9/9 successful episodes	[pipeline.py: 1323]
+05/14 23:24:02 INFO: [Worker 0] [PROFILE] House 1 complete: 9/9 successful, 9 episodes, total_time=3648.81s
+  House averages:
+  episode_total: mean=113.60s, total=2044.78s, count=18, min=3193.0ms, max=210340.1ms
+  sensor_polling: mean=416.4ms, total=1357.73s, count=3261, min=385.1ms, max=828.6ms
+  save_trajectories: mean=11.49s, total=103.37s, count=9, min=11104.6ms, max=12205.7ms
+  physics_step: mean=23.2ms, total=75.77s, count=3261, min=15.6ms, max=37.1ms
+  save_batch_prep: mean=4.46s, total=40.16s, count=9, min=4299.9ms, max=4636.4ms
+  task_sampling: mean=642.1ms, total=11.56s, count=18, min=392.3ms, max=3346.7ms
+  task_specific_sample: mean=479.0ms, total=8.62s, count=18, min=388.5ms, max=672.7ms
+  scene_load: mean=2.87s, total=2.87s, count=1, min=2868.4ms, max=2868.4ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1737.7ms, max=1737.7ms
+  scene_compile: mean=952.2ms, total=952.2ms, count=1, min=952.2ms, max=952.2ms
+  compile_mujoco: mean=688.6ms, total=688.6ms, count=1, min=688.6ms, max=688.6ms
+  compile_xml_load: mean=187.9ms, total=187.9ms, count=1, min=187.9ms, max=187.9ms
+  scene_init: mean=120.2ms, total=120.2ms, count=1, min=120.2ms, max=120.2ms
+  scene_asset_install: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  asset_install_grasps: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  scene_randomize: mean=2.0ms, total=35.3ms, count=18, min=1.2ms, max=2.6ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  compile_robot_add: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=458.9us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=18.5us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:24:02 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:24:02 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3648.81s
+  Worker averages:
+  episode_total: mean=113.60s, total=2044.78s, count=18, min=3193.0ms, max=210340.1ms
+  sensor_polling: mean=416.4ms, total=1357.73s, count=3261, min=385.1ms, max=828.6ms
+  save_trajectories: mean=11.49s, total=103.37s, count=9, min=11104.6ms, max=12205.7ms
+  physics_step: mean=23.2ms, total=75.77s, count=3261, min=15.6ms, max=37.1ms
+  save_batch_prep: mean=4.46s, total=40.16s, count=9, min=4299.9ms, max=4636.4ms
+  task_sampling: mean=642.1ms, total=11.56s, count=18, min=392.3ms, max=3346.7ms
+  task_specific_sample: mean=479.0ms, total=8.62s, count=18, min=388.5ms, max=672.7ms
+  scene_load: mean=2.87s, total=2.87s, count=1, min=2868.4ms, max=2868.4ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1737.7ms, max=1737.7ms
+  scene_compile: mean=952.2ms, total=952.2ms, count=1, min=952.2ms, max=952.2ms
+  compile_mujoco: mean=688.6ms, total=688.6ms, count=1, min=688.6ms, max=688.6ms
+  compile_xml_load: mean=187.9ms, total=187.9ms, count=1, min=187.9ms, max=187.9ms
+  scene_init: mean=120.2ms, total=120.2ms, count=1, min=120.2ms, max=120.2ms
+  scene_asset_install: mean=57.9ms, total=57.9ms, count=1, min=57.9ms, max=57.9ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  asset_install_grasps: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  scene_randomize: mean=2.0ms, total=35.3ms, count=18, min=1.2ms, max=2.6ms
+  asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms
+  compile_robot_add: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=458.9us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=18.5us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:24:06 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:24:06 INFO: Success count: 9, Total count: 9	[pipeline.py: 1491]
+05/14 23:24:06 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 23:24:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:24:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:24:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:24:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:24:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:24:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.76s (batch: 4.55s, save: 11.22s)	[pipeline.py: 300]
+05/14 23:24:34 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.58s:
+  episode_total: mean=187.74s, total=187.74s, count=1, min=187736.2ms, max=187736.2ms
+  sensor_polling: mean=427.3ms, total=128.20s, count=300, min=390.5ms, max=1015.3ms
+  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11218.1ms, max=11218.1ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=18.0ms, max=39.8ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4545.8ms, max=4545.8ms
+  task_sampling: mean=581.5ms, total=581.5ms, count=1, min=581.5ms, max=581.5ms
+  task_specific_sample: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=455.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=90.4us, 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]
+05/14 23:24:36 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:24:36 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:24:36 INFO: [Worker 0] Worker 0 completed house 1: 5/9 successful episodes	[pipeline.py: 1323]
+05/14 23:24:36 INFO: [Worker 0] [PROFILE] House 1 complete: 5/9 successful, 9 episodes, total_time=3759.11s
+  House averages:
+  episode_total: mean=115.31s, total=2075.55s, count=18, min=3308.1ms, max=205040.0ms
+  sensor_polling: mean=433.0ms, total=1482.20s, count=3423, min=372.1ms, max=1290.2ms
+  physics_step: mean=24.9ms, total=85.11s, count=3423, min=15.0ms, max=68.6ms
+  save_trajectories: mean=11.84s, total=59.22s, count=5, min=11218.1ms, max=12532.9ms
+  save_batch_prep: mean=5.13s, total=25.64s, count=5, min=4545.8ms, max=6875.2ms
+  task_sampling: mean=723.3ms, total=13.02s, count=18, min=390.5ms, max=4290.1ms
+  task_specific_sample: mean=507.4ms, total=9.13s, count=18, min=386.7ms, max=693.7ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3818.0ms, max=3818.0ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2166.4ms, max=2166.4ms
+  scene_compile: mean=1.46s, total=1.46s, count=1, min=1459.1ms, max=1459.1ms
+  compile_mujoco: mean=721.7ms, total=721.7ms, count=1, min=721.7ms, max=721.7ms
+  compile_xml_load: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
+  scene_init: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
+  scene_asset_install: mean=60.0ms, total=60.0ms, count=1, min=60.0ms, max=60.0ms
+  compile_aux_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_policy_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_robot_add: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  scene_randomize: mean=1.9ms, total=33.3ms, count=18, min=1.2ms, max=3.1ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  mj_forward_sync: mean=479.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=30.5us, 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]
+05/14 23:24:36 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:24:36 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3759.11s
+  Worker averages:
+  episode_total: mean=115.31s, total=2075.55s, count=18, min=3308.1ms, max=205040.0ms
+  sensor_polling: mean=433.0ms, total=1482.20s, count=3423, min=372.1ms, max=1290.2ms
+  physics_step: mean=24.9ms, total=85.11s, count=3423, min=15.0ms, max=68.6ms
+  save_trajectories: mean=11.84s, total=59.22s, count=5, min=11218.1ms, max=12532.9ms
+  save_batch_prep: mean=5.13s, total=25.64s, count=5, min=4545.8ms, max=6875.2ms
+  task_sampling: mean=723.3ms, total=13.02s, count=18, min=390.5ms, max=4290.1ms
+  task_specific_sample: mean=507.4ms, total=9.13s, count=18, min=386.7ms, max=693.7ms
+  scene_load: mean=3.82s, total=3.82s, count=1, min=3818.0ms, max=3818.0ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2166.4ms, max=2166.4ms
+  scene_compile: mean=1.46s, total=1.46s, count=1, min=1459.1ms, max=1459.1ms
+  compile_mujoco: mean=721.7ms, total=721.7ms, count=1, min=721.7ms, max=721.7ms
+  compile_xml_load: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
+  scene_init: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
+  scene_asset_install: mean=60.0ms, total=60.0ms, count=1, min=60.0ms, max=60.0ms
+  compile_aux_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_policy_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_robot_add: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  scene_randomize: mean=1.9ms, total=33.3ms, count=18, min=1.2ms, max=3.1ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  mj_forward_sync: mean=479.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=30.5us, 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]
+05/14 23:24:40 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:24:40 INFO: Success count: 5, Total count: 9	[pipeline.py: 1491]
+05/14 23:24:40 INFO: Success rate: 55.56%	[pipeline.py: 1492]
+05/14 23:24:44 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:25:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:25:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:25:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:25:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:25:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:25:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.73s (batch: 4.43s, save: 11.30s)	[pipeline.py: 300]
+05/14 23:25:28 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.87s:
+  episode_total: mean=95.31s, total=190.62s, count=2, min=4927.6ms, max=185691.0ms
+  sensor_polling: mean=426.7ms, total=128.02s, count=300, min=361.4ms, max=794.0ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11302.4ms, max=11302.4ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=17.8ms, max=31.0ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4427.0ms, max=4427.0ms
+  task_sampling: mean=436.5ms, total=873.0ms, count=2, min=407.9ms, max=465.1ms
+  task_specific_sample: mean=431.9ms, total=863.9ms, count=2, min=402.7ms, max=461.2ms
+  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.4ms, max=2.5ms
+  mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:25:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:25:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:25:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:25:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:25:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:25:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:25:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077581m	[env.py: 870]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:25:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.60201282 -0.14408554  0.07758088] yaw=-149.1deg	[env.py: 1019]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.41920634 -0.11352871  0.07758088] yaw=-137.2deg	[env.py: 1019]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00448154 -0.56210198  0.07758088] yaw=-153.2deg	[env.py: 1019]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:25:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=322.4ms, total=322.5ms	[env.py: 1075]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.602, -0.144, 0.078)	[env.py: 1079]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg	[env.py: 1082]
+05/14 23:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:25:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:25:30 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:25:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:25:30 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]
+05/14 23:25:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:25:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:25:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:25:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.688[m] 78.564[deg]	[grasp_sample.py: 539]
+05/14 23:25:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:25:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:25:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:25:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:26:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:26:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:26:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:27:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:27:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:27:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:27:33 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]
+05/14 23:27:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:27:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:27:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:27:36 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 6.628[deg]	[grasp_sample.py: 539]
+05/14 23:27:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:27:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:27:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:27:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:27:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:27:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:27:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:27:59 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.61s:
+  episode_total: mean=149.43s, total=149.43s, count=1, min=149428.5ms, max=149428.5ms
+  sensor_polling: mean=417.8ms, total=125.33s, count=300, min=397.0ms, max=796.0ms
+  physics_step: mean=23.4ms, total=7.03s, count=300, min=16.6ms, max=38.7ms
+  task_sampling: mean=612.1ms, total=612.1ms, count=1, min=612.1ms, max=612.1ms
+  task_specific_sample: mean=607.8ms, total=607.8ms, count=1, min=607.8ms, max=607.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=466.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:28:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:28:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:28:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:28:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:28:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:28:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:28:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078231m	[env.py: 870]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:28:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2576142  -0.56184998 -0.07823074] yaw=-139.6deg	[env.py: 1019]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10142066 -1.13426516 -0.07823074] yaw=133.6deg	[env.py: 1019]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05661156 -0.47666023 -0.07823074] yaw=-190.1deg	[env.py: 1019]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:28:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.6ms, total=327.7ms	[env.py: 1075]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.258, -0.562, -0.078)	[env.py: 1079]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.6 deg	[env.py: 1082]
+05/14 23:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:28:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:28:01 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:28:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:28:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:28:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 77.230[deg]	[grasp_sample.py: 539]
+05/14 23:28:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:28:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:28:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:28:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:28:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:28:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:28:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:30:19 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:30:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/14 23:30:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:30:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:31:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:31:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_003	[save_utils.py: 785]
+05/14 23:31:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.12s (batch: 3.68s, save: 11.44s)	[pipeline.py: 300]
+05/14 23:31:04 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.62s:
+  episode_total: mean=183.38s, total=183.38s, count=1, min=183378.0ms, max=183378.0ms
+  sensor_polling: mean=423.2ms, total=126.97s, count=300, min=402.5ms, max=1126.0ms
+  save_trajectories: mean=11.44s, total=11.44s, count=1, min=11438.5ms, max=11438.5ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=16.8ms, max=26.2ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3677.9ms, max=3677.9ms
+  task_sampling: mean=623.2ms, total=623.2ms, count=1, min=623.2ms, max=623.2ms
+  task_specific_sample: mean=619.6ms, total=619.6ms, count=1, min=619.6ms, max=619.6ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=442.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:31:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:31:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:31:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:31:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:31:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001595m	[env.py: 870]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18771 free points within sampling radius	[env.py: 907]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.52530785 -0.05886425 -0.00159456] yaw=-101.3deg	[env.py: 1019]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01487755 -0.88081076 -0.00159456] yaw=203.6deg	[env.py: 1019]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.11746465 -0.22962176 -0.00159456] yaw=-162.1deg	[env.py: 1019]
+05/14 23:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:31:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.4ms	[env.py: 1075]
+05/14 23:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.525, -0.059, -0.002)	[env.py: 1079]
+05/14 23:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.3 deg	[env.py: 1082]
+05/14 23:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/14 23:31:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:31:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:31:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:31:06 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:31:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:31:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:31:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:31:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:31:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:31:09 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.651[m] 122.910[deg]	[grasp_sample.py: 539]
+05/14 23:31:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:31:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:31:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:31:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:32:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:32:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:32:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:33:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:33:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:33:14 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]
+05/14 23:33:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:33:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:33:16 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:33:16 INFO: [Worker 0] Feasible grasp found 225 (originally 110): w/ 0.194[m] 8.903[deg]	[grasp_sample.py: 539]
+05/14 23:33:18 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:33:19 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:33:19 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/14 23:33:19 INFO: [Worker 0] Worker 0 completed house 1: 10/12 successful episodes	[pipeline.py: 1323]
+05/14 23:33:19 INFO: [Worker 0] [PROFILE] House 1 complete: 10/12 successful, 12 episodes, total_time=4611.35s
+  House averages:
+  episode_total: mean=144.70s, total=2604.52s, count=18, min=3414.7ms, max=222706.4ms
+  sensor_polling: mean=429.8ms, total=1714.72s, count=3990, min=361.4ms, max=1156.5ms
+  save_trajectories: mean=11.89s, total=118.86s, count=10, min=11302.4ms, max=13138.7ms
+  physics_step: mean=23.9ms, total=95.37s, count=3990, min=15.1ms, max=71.6ms
+  save_batch_prep: mean=4.56s, total=45.61s, count=10, min=3677.9ms, max=4935.6ms
+  task_sampling: mean=744.3ms, total=13.40s, count=18, min=379.2ms, max=4495.8ms
+  task_specific_sample: mean=524.1ms, total=9.43s, count=18, min=374.9ms, max=804.8ms
+  scene_load: mean=3.89s, total=3.89s, count=1, min=3888.8ms, max=3888.8ms
+  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.8ms, max=2185.8ms
+  scene_compile: mean=1.52s, total=1.52s, count=1, min=1516.7ms, max=1516.7ms
+  compile_xml_load: mean=745.9ms, total=745.9ms, count=1, min=745.9ms, max=745.9ms
+  compile_mujoco: mean=670.9ms, total=670.9ms, count=1, min=670.9ms, max=670.9ms
+  scene_init: mean=123.3ms, total=123.3ms, count=1, min=123.3ms, max=123.3ms
+  scene_asset_install: mean=62.6ms, total=62.6ms, count=1, min=62.6ms, max=62.6ms
+  compile_aux_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_policy_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  scene_randomize: mean=2.3ms, total=41.1ms, count=18, min=1.2ms, max=3.0ms
+  compile_robot_add: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms
+  asset_install_objects: mean=14.6ms, total=14.6ms, count=1, min=14.6ms, max=14.6ms
+  mj_forward_sync: mean=479.9us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:33:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:33:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4611.35s
+  Worker averages:
+  episode_total: mean=144.70s, total=2604.52s, count=18, min=3414.7ms, max=222706.4ms
+  sensor_polling: mean=429.8ms, total=1714.72s, count=3990, min=361.4ms, max=1156.5ms
+  save_trajectories: mean=11.89s, total=118.86s, count=10, min=11302.4ms, max=13138.7ms
+  physics_step: mean=23.9ms, total=95.37s, count=3990, min=15.1ms, max=71.6ms
+  save_batch_prep: mean=4.56s, total=45.61s, count=10, min=3677.9ms, max=4935.6ms
+  task_sampling: mean=744.3ms, total=13.40s, count=18, min=379.2ms, max=4495.8ms
+  task_specific_sample: mean=524.1ms, total=9.43s, count=18, min=374.9ms, max=804.8ms
+  scene_load: mean=3.89s, total=3.89s, count=1, min=3888.8ms, max=3888.8ms
+  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.8ms, max=2185.8ms
+  scene_compile: mean=1.52s, total=1.52s, count=1, min=1516.7ms, max=1516.7ms
+  compile_xml_load: mean=745.9ms, total=745.9ms, count=1, min=745.9ms, max=745.9ms
+  compile_mujoco: mean=670.9ms, total=670.9ms, count=1, min=670.9ms, max=670.9ms
+  scene_init: mean=123.3ms, total=123.3ms, count=1, min=123.3ms, max=123.3ms
+  scene_asset_install: mean=62.6ms, total=62.6ms, count=1, min=62.6ms, max=62.6ms
+  compile_aux_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  compile_aux_policy_objects: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  scene_randomize: mean=2.3ms, total=41.1ms, count=18, min=1.2ms, max=3.0ms
+  compile_robot_add: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms
+  asset_install_objects: mean=14.6ms, total=14.6ms, count=1, min=14.6ms, max=14.6ms
+  mj_forward_sync: mean=479.9us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:33:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:33:22 INFO: Success count: 10, Total count: 12	[pipeline.py: 1491]
+05/14 23:33:22 INFO: Success rate: 83.33%	[pipeline.py: 1492]
diff --git a/fridge_m_v2/sim_chunks/chunk_003/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_v2/sim_chunks/chunk_003/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
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