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+05/14 21:16:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 21:16:37 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 21:16:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 21:16:37 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                'name': 'exo_camera_1',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
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+                         '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_101'),
+ '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 0x73393dd178d0>,
+ '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': 40102,
+ '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 21:16:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 21:16:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 21:16:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 21:16:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 21:16:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 21:16:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 21:16:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 21:16:39 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_101'),
+ '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 0x71b93fa33350>,
+ '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': 40103,
+ '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 21:16:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 21:16:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 21:16:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 21:16:39 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 21:16:40 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 21:16:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 21:16:40 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 21:16:40 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 21:16:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:16:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092137m	[env.py: 870]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:16:40 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 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23422022 -0.18289217 -0.09213733] yaw=-142.4deg	[env.py: 1019]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22227388 -0.50758412 -0.09213733] yaw=-140.6deg	[env.py: 1019]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28703451 -0.40962909 -0.09213733] yaw=-168.4deg	[env.py: 1019]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:16:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=101.6ms, total=122.9ms	[env.py: 1075]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.234, -0.183, -0.092)	[env.py: 1079]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.4 deg	[env.py: 1082]
+05/14 21:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:16:41 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:16:41 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 21:16:41 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 21:16:41 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 21:16:41 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_101'),
+ '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 0x7015c4f74f10>,
+ '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': 40104,
+ '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 21:16:41 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 21:16:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 21:16:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 21:16:41 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 21:16:41 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 21:16:41 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 21:16:41 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 21:16:41 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_101'),
+ '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 0x7a70e8b5b250>,
+ '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': 40101,
+ '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 21:16:41 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 21:16:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 21:16:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 21:16:42 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 21:16:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 21:16:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 21:16:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 21:16:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 21:16:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:16:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:16:42 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 21:16:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:16:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007681m	[env.py: 870]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:16:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.36294204 -0.00952858 -0.00768093] yaw=-141.4deg	[env.py: 1019]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:16:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=21.3ms, retries=193.7ms, total=215.1ms	[env.py: 1075]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.363, -0.010, -0.008)	[env.py: 1079]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.4 deg	[env.py: 1082]
+05/14 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:16:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:16:43 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 21:16:43 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 21:16:43 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 21:16:43 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 21:16:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:16:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:16:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:16:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:16:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025285m	[env.py: 870]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:16:43 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 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.35296791 -0.23591027  0.02528456] yaw=-114.7deg	[env.py: 1019]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.18539933 -0.52075346  0.02528456] yaw=-148.6deg	[env.py: 1019]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.3ms, retries=187.4ms, total=208.8ms	[env.py: 1075]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.353, -0.236, 0.025)	[env.py: 1079]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.7 deg	[env.py: 1082]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:16:44 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:16:44 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 21:16:44 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 21:16:44 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 21:16:44 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 21:16:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:16:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:16:44 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 21:16:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:16:44 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 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071624m	[env.py: 870]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:16:44 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 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14355825 -0.61725643  0.07162418] yaw=-160.3deg	[env.py: 1019]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02780802 -0.92063081  0.07162418] yaw=176.6deg	[env.py: 1019]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14563487 -0.23708466  0.07162418] yaw=-131.0deg	[env.py: 1019]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=21.2ms, retries=86.1ms, total=107.3ms	[env.py: 1075]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.144, -0.617, 0.072)	[env.py: 1079]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
+05/14 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:16:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:16:45 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:17:15 INFO: [Worker 0] Warmed up parallel IK solver in 34.232s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:17:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:17:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:17:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:17:16 INFO: [Worker 0] Warmed up parallel IK solver in 34.033s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:17:16 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 21:17:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:17:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:17:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:17:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 95.576[deg]	[grasp_sample.py: 539]
+05/14 21:17:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:17:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:17:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:17:18 INFO: [Worker 0] Warmed up parallel IK solver in 34.604s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:17:18 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 21:17:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:17:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:17:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.460s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:17:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:17:20 INFO: [Worker 0] Warmed up parallel IK solver in 35.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:17:20 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 21:17:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:17:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:17:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:17:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:17:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:17:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:17:21 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 21:17:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:17:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036661m	[env.py: 870]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:17:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08169415 -0.39480369  0.03666068] yaw=-155.9deg	[env.py: 1019]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.3506258  -0.37127524  0.03666068] yaw=-163.4deg	[env.py: 1019]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:17:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=188.2ms, total=188.2ms	[env.py: 1075]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.082, -0.395, 0.037)	[env.py: 1079]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
+05/14 21:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:17:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.158s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:17:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.599[m] 46.930[deg]	[grasp_sample.py: 539]
+05/14 21:17:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:17:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:17:21 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:17:21 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 21:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:17:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:17:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.504[m] 70.519[deg]	[grasp_sample.py: 539]
+05/14 21:17:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:17:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:17:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:17:22 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 21:17:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.366s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:17:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.750[m] 92.920[deg]	[grasp_sample.py: 539]
+05/14 21:17:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:17:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:17:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:17:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:18:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:18:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:18:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:18:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:18:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:18:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:19:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:19:17 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 21:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:19:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.362s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:19:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.112[m] 0.601[deg]	[grasp_sample.py: 539]
+05/14 21:19:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:19:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:19:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:19:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:19:31 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:19:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:42 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:19:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:19:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:19:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:19:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:19:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:19:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:19:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.948[deg]	[grasp_sample.py: 539]
+05/14 21:19:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:19:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:19:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:19:49 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:19:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:19:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:19:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:19:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:19:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:19:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:20:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:20:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:20:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:20:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:20:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:20:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.88s (batch: 3.45s, save: 11.43s)	[pipeline.py: 300]
+05/14 21:20:08 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.11s:
+  episode_total: mean=103.52s, total=207.05s, count=2, min=40191.8ms, max=166854.7ms
+  sensor_polling: mean=392.1ms, total=117.62s, count=300, min=369.1ms, max=517.6ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11433.8ms, max=11433.8ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=17.3ms, max=32.2ms
+  task_sampling: mean=2.06s, total=4.11s, count=2, min=500.8ms, max=3612.0ms
+  save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3446.6ms, max=3446.6ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3117.7ms, max=3117.7ms
+  scene_env_create: mean=2.05s, total=2.05s, count=1, min=2048.5ms, max=2048.5ms
+  task_specific_sample: mean=494.5ms, total=989.0ms, count=2, min=491.6ms, max=497.4ms
+  scene_compile: mean=900.9ms, total=900.9ms, count=1, min=900.9ms, max=900.9ms
+  compile_mujoco: mean=643.8ms, total=643.8ms, count=1, min=643.8ms, max=643.8ms
+  compile_xml_load: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  scene_asset_install: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms
+  asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms
+  mj_forward_sync: mean=533.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:20:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:20:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:20:09 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 21:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:20:09 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 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050620m	[env.py: 870]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03279443 -0.50646383 -0.05061991] yaw=-183.3deg	[env.py: 1019]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.44070439  0.01701884 -0.05061991] yaw=-143.2deg	[env.py: 1019]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02333022 -1.14379979 -0.05061991] yaw=177.1deg	[env.py: 1019]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:20:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.9ms, total=155.0ms	[env.py: 1075]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.033, -0.506, -0.051)	[env.py: 1079]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg	[env.py: 1082]
+05/14 21:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.150m	[env.py: 1086]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:20:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:20:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:20:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:20:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:20:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:20:10 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 21:20:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:20:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:20:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.503s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:20:12 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:20:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:20:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:20:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:20:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:20:13 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 21:20:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:20:13 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 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066352m	[env.py: 870]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:20:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13837023 -1.13320082 -0.06635193] yaw=148.3deg	[env.py: 1019]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.45288866 -0.00207126 -0.06635193] yaw=-120.5deg	[env.py: 1019]
+05/14 21:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.2071553  -0.64985735 -0.06635193] yaw=-151.3deg	[env.py: 1019]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:20:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.7ms, total=134.7ms	[env.py: 1075]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.138, -1.133, -0.066)	[env.py: 1079]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
+05/14 21:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/14 21:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:20:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:20:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.32s (batch: 3.39s, save: 10.93s)	[pipeline.py: 300]
+05/14 21:20:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:20:14 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:20:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:20:14 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 21:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:20:14 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.75s:
+  episode_total: mean=217.50s, total=217.50s, count=1, min=217504.3ms, max=217504.3ms
+  sensor_polling: mean=397.2ms, total=119.17s, count=300, min=380.2ms, max=545.0ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10931.2ms, max=10931.2ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=20.2ms, max=31.0ms
+  task_sampling: mean=3.75s, total=3.75s, count=1, min=3747.5ms, max=3747.5ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3392.2ms, max=3392.2ms
+  scene_load: mean=3.35s, total=3.35s, count=1, min=3349.3ms, max=3349.3ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.0ms, max=1920.0ms
+  scene_compile: mean=1.26s, total=1.26s, count=1, min=1256.9ms, max=1256.9ms
+  compile_mujoco: mean=616.1ms, total=616.1ms, count=1, min=616.1ms, max=616.1ms
+  compile_xml_load: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
+  task_specific_sample: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  compile_robot_add: mean=24.1ms, total=24.1ms, count=1, min=24.1ms, max=24.1ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:20:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:20:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:20:16 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 21:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:20:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087580m	[env.py: 870]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10020171 -0.49121265 -0.0875796 ] yaw=-161.1deg	[env.py: 1019]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22523935 -0.15302155 -0.0875796 ] yaw=-157.8deg	[env.py: 1019]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.02814296 -1.0054007  -0.0875796 ] yaw=185.1deg	[env.py: 1019]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:20:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.0ms, total=171.1ms	[env.py: 1075]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.491, -0.088)	[env.py: 1079]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/14 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:20:16 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:20:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:20:16 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 21:20:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:20:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:20:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.453s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:20:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.529[m] 90.968[deg]	[grasp_sample.py: 539]
+05/14 21:20:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:20:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:20:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:20:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:20:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:20:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.12s (batch: 3.00s, save: 11.13s)	[pipeline.py: 300]
+05/14 21:20:18 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.43s:
+  episode_total: mean=216.52s, total=216.52s, count=1, min=216520.2ms, max=216520.2ms
+  sensor_polling: mean=434.3ms, total=130.28s, count=300, min=398.3ms, max=607.4ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11125.5ms, max=11125.5ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=19.6ms, max=38.9ms
+  task_sampling: mean=3.43s, total=3.43s, count=1, min=3434.9ms, max=3434.9ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3055.7ms, max=3055.7ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2996.2ms, max=2996.2ms
+  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1987.7ms, max=1987.7ms
+  scene_compile: mean=901.3ms, total=901.3ms, count=1, min=901.3ms, max=901.3ms
+  compile_mujoco: mean=642.7ms, total=642.7ms, count=1, min=642.7ms, max=642.7ms
+  task_specific_sample: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
+  compile_xml_load: mean=185.5ms, total=185.5ms, count=1, min=185.5ms, max=185.5ms
+  scene_init: mean=115.8ms, total=115.8ms, count=1, min=115.8ms, max=115.8ms
+  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_asset_install: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
+  asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms
+  compile_robot_add: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:20:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:20:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.742[m] 115.397[deg]	[grasp_sample.py: 539]
+05/14 21:20:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:20:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:20:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:20:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:20:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:20:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:20:19 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 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081878m	[env.py: 870]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:20:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17084969 -1.15286677  0.08187804] yaw=132.3deg	[env.py: 1019]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13709206 -0.22870982  0.08187804] yaw=-161.5deg	[env.py: 1019]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:20:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.3ms, total=192.3ms	[env.py: 1075]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.171, -1.153, 0.082)	[env.py: 1079]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.3 deg	[env.py: 1082]
+05/14 21:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:20:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:20:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:20:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:20:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:20:20 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 21:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:20:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:20:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:20:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.708[m] 98.435[deg]	[grasp_sample.py: 539]
+05/14 21:20:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:20:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:20:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:20:22 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 21:20:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:20:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:20:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.56s (batch: 2.61s, save: 10.96s)	[pipeline.py: 300]
+05/14 21:20:23 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.27s:
+  episode_total: mean=222.78s, total=222.78s, count=1, min=222783.2ms, max=222783.2ms
+  sensor_polling: mean=413.0ms, total=123.90s, count=300, min=378.4ms, max=548.6ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10957.9ms, max=10957.9ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=18.4ms, max=33.2ms
+  task_sampling: mean=3.27s, total=3.27s, count=1, min=3269.6ms, max=3269.6ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2789.6ms, max=2789.6ms
+  save_batch_prep: mean=2.61s, total=2.61s, count=1, min=2605.6ms, max=2605.6ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1739.8ms, max=1739.8ms
+  scene_compile: mean=879.5ms, total=879.5ms, count=1, min=879.5ms, max=879.5ms
+  compile_mujoco: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
+  task_specific_sample: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
+  compile_xml_load: mean=186.8ms, total=186.8ms, count=1, min=186.8ms, max=186.8ms
+  scene_init: mean=116.7ms, total=116.7ms, count=1, min=116.7ms, max=116.7ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=441.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:20:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:20:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:20:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:20:25 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 21:20:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:20:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004555m	[env.py: 870]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:20:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.45446046 -0.27359356 -0.00455496] yaw=-164.2deg	[env.py: 1019]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.46892387 -0.21907672 -0.00455496] yaw=-110.7deg	[env.py: 1019]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02455288 -0.82590598 -0.00455496] yaw=171.0deg	[env.py: 1019]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:20:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.8ms, total=107.8ms	[env.py: 1075]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.454, -0.274, -0.005)	[env.py: 1079]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/14 21:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:20:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:20:25 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:20:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:20:25 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 21:20:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:20:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:20:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.691s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:20:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 93.797[deg]	[grasp_sample.py: 539]
+05/14 21:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:20:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:20:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:20:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:21:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:21:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:21:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:21:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:21:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:21:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:22:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:22:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:22:32 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 21:22:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:22:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:22:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:22:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.304[deg]	[grasp_sample.py: 539]
+05/14 21:22:36 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:22:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:22:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:22:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:22:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:22:38 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 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062691m	[env.py: 870]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:22:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19377693 -0.9948426   0.06269067] yaw=194.3deg	[env.py: 1019]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.28891107 -1.00285029  0.06269067] yaw=165.5deg	[env.py: 1019]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.2532905  -0.93279696  0.06269067] yaw=196.0deg	[env.py: 1019]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.7ms	[env.py: 1075]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.194, -0.995, 0.063)	[env.py: 1079]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 194.3 deg	[env.py: 1082]
+05/14 21:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:22:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:22:38 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:22:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.831s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:22:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.545[m] 60.346[deg]	[grasp_sample.py: 539]
+05/14 21:22:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:22:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:22:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:22:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:22:44 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:22:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:22:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:22:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:23:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:23:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:23:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.25s (batch: 4.01s, save: 11.24s)	[pipeline.py: 300]
+05/14 21:23:01 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.44s:
+  episode_total: mean=165.22s, total=165.22s, count=1, min=165216.5ms, max=165216.5ms
+  sensor_polling: mean=388.0ms, total=116.41s, count=300, min=370.6ms, max=549.2ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11237.8ms, max=11237.8ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=16.9ms, max=29.8ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.7ms, max=4009.7ms
+  task_sampling: mean=439.0ms, total=439.0ms, count=1, min=439.0ms, max=439.0ms
+  task_specific_sample: mean=434.7ms, total=434.7ms, count=1, min=434.7ms, max=434.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=637.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.4us, 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 21:23:02 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:23:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:23:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:23:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:23:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:23:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:23:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:23:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:23:03 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 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024372m	[env.py: 870]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:23:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06117754 -0.86485127 -0.0243724 ] yaw=204.6deg	[env.py: 1019]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02771799 -0.64300672 -0.0243724 ] yaw=-194.6deg	[env.py: 1019]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:23:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.1ms, total=186.1ms	[env.py: 1075]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.061, -0.865, -0.024)	[env.py: 1079]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.6 deg	[env.py: 1082]
+05/14 21:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.137m	[env.py: 1086]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:23:03 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:23:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:23:03 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 21:23:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:23:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:23:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:23:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:23:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:23:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.093s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:23:05 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:23:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:23:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:23:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:23:07 INFO: [Worker 0] [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 21:23:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:23:07 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 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062537m	[env.py: 870]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:23:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.31325249 -0.37800158  0.06253655] yaw=-176.0deg	[env.py: 1019]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.53050991 -0.21208156  0.06253655] yaw=-107.5deg	[env.py: 1019]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15160686 -0.40625653  0.06253655] yaw=-174.1deg	[env.py: 1019]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:23:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=262.4ms, total=262.5ms	[env.py: 1075]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.313, -0.378, 0.063)	[env.py: 1079]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
+05/14 21:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:23:07 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:23:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:23:07 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 21:23:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:23:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:23:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.876s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:23:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 43.714[deg]	[grasp_sample.py: 539]
+05/14 21:23:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:23:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:23:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:23:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:23:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:23:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.79s (batch: 3.26s, save: 10.53s)	[pipeline.py: 300]
+05/14 21:23:16 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
+  episode_total: mean=176.74s, total=176.74s, count=1, min=176740.9ms, max=176740.9ms
+  sensor_polling: mean=418.7ms, total=125.61s, count=300, min=371.6ms, max=630.7ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10525.6ms, max=10525.6ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=16.7ms, max=55.0ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3260.5ms, max=3260.5ms
+  task_sampling: mean=451.4ms, total=451.4ms, count=1, min=451.4ms, max=451.4ms
+  task_specific_sample: mean=447.3ms, total=447.3ms, count=1, min=447.3ms, max=447.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=458.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.1us, 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 21:23:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:23:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:23:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:23:17 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 21:23:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:23:17 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 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032533m	[env.py: 870]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:23:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.25996834 -1.23623904  0.0325325 ] yaw=164.2deg	[env.py: 1019]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:23:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.9ms	[env.py: 1075]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.260, -1.236, 0.033)	[env.py: 1079]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
+05/14 21:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:23:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:23:18 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 21:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:23:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:23:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:23:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.57s (batch: 3.01s, save: 10.56s)	[pipeline.py: 300]
+05/14 21:23:18 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.78s:
+  episode_total: mean=94.01s, total=188.01s, count=2, min=3091.4ms, max=184922.6ms
+  sensor_polling: mean=435.3ms, total=130.58s, count=300, min=373.0ms, max=653.1ms
+  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10564.1ms, max=10564.1ms
+  physics_step: mean=28.2ms, total=8.47s, count=300, min=17.9ms, max=36.9ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3009.2ms, max=3009.2ms
+  task_sampling: mean=391.5ms, total=783.0ms, count=2, min=370.8ms, max=412.2ms
+  task_specific_sample: mean=388.0ms, total=776.1ms, count=2, min=368.0ms, max=408.1ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=448.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:23:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:23:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.541[m] 88.352[deg]	[grasp_sample.py: 539]
+05/14 21:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:23:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:23:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:23:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:23:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:23:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:23:20 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 21:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:23:20 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 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077727m	[env.py: 870]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32223165  0.05098172  0.07772719] yaw=-107.6deg	[env.py: 1019]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.16427032 -0.90953046  0.07772719] yaw=186.6deg	[env.py: 1019]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13593511 -0.89294632  0.07772719] yaw=190.5deg	[env.py: 1019]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:23:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.1ms, total=175.2ms	[env.py: 1075]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.322, 0.051, 0.078)	[env.py: 1079]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.6 deg	[env.py: 1082]
+05/14 21:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.148m	[env.py: 1086]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:23:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:23:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:23:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:23:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:23:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:23:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.068s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:23:22 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:23:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:23:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:23:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:23:24 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 21:23:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:23:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071112m	[env.py: 870]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:23:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0397027  -0.74429775  0.07111157] yaw=-180.3deg	[env.py: 1019]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07499639 -0.5900888   0.07111157] yaw=-177.2deg	[env.py: 1019]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23542913 -0.97439449  0.07111157] yaw=157.2deg	[env.py: 1019]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:23:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.4ms	[env.py: 1075]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.040, -0.744, 0.071)	[env.py: 1079]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.3 deg	[env.py: 1082]
+05/14 21:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:23:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:23:24 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:23:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:23:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:23:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:23:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:23:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:23:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 96.985[deg]	[grasp_sample.py: 539]
+05/14 21:23:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:23:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:23:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:23:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:23:26 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 21:23:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:23:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:23:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:24:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:24:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:24:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:24:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:24:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:24:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:24:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:24:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:24:43 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.431[deg]	[grasp_sample.py: 539]
+05/14 21:24:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:24:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:24:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:24:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:25:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:25:08 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:25:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:25:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:25:31 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:32 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:25:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:25:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:25:36 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 21:25:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:25:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:25:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:25:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.606[deg]	[grasp_sample.py: 539]
+05/14 21:25:38 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:25:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:25:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:25:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:25:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:25:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:25:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034619m	[env.py: 870]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:25:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35357642  0.09272231  0.03461941] yaw=-147.4deg	[env.py: 1019]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22727994 -0.54486361  0.03461941] yaw=-168.7deg	[env.py: 1019]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:25:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.4ms, total=198.5ms	[env.py: 1075]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.354, 0.093, 0.035)	[env.py: 1079]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg	[env.py: 1082]
+05/14 21:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m	[env.py: 1086]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:25:40 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:25:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:25:40 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 21:25:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:25:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:25:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.165s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:25:42 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:25:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:25:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:25:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:25:44 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 21:25:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:25:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022205m	[env.py: 870]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:25:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07799788 -1.33745293  0.02220541] yaw=138.0deg	[env.py: 1019]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.16837309 -0.03322437  0.02220541] yaw=-154.8deg	[env.py: 1019]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07253192 -0.3820601   0.02220541] yaw=-183.7deg	[env.py: 1019]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:25:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.078, -1.337, 0.022)	[env.py: 1079]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.0 deg	[env.py: 1082]
+05/14 21:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m	[env.py: 1086]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:25:45 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:25:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:25:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:25:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:25:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:25:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:25:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.22s (batch: 3.75s, save: 11.47s)	[pipeline.py: 300]
+05/14 21:25:46 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.76s:
+  episode_total: mean=159.98s, total=319.97s, count=2, min=131059.9ms, max=188905.1ms
+  sensor_polling: mean=400.6ms, total=230.72s, count=576, min=375.1ms, max=695.0ms
+  physics_step: mean=23.7ms, total=13.68s, count=576, min=15.2ms, max=36.7ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11468.6ms, max=11468.6ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.2ms, max=3752.2ms
+  task_sampling: mean=377.5ms, total=755.0ms, count=2, min=362.8ms, max=392.2ms
+  task_specific_sample: mean=374.1ms, total=748.1ms, count=2, min=358.9ms, max=389.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=454.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  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 21:25:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.522s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:25:47 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:25:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:25:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:25:48 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 21:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:25:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041861m	[env.py: 870]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01710609 -1.26709471 -0.0418614 ] yaw=146.1deg	[env.py: 1019]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.29386656 -0.43539652 -0.0418614 ] yaw=-176.8deg	[env.py: 1019]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.3188403  -1.14707914 -0.0418614 ] yaw=146.8deg	[env.py: 1019]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.8ms, total=96.8ms	[env.py: 1075]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.017, -1.267, -0.042)	[env.py: 1079]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.1 deg	[env.py: 1082]
+05/14 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:25:48 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:25:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:25:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:25:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:25:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:25:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:25:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065398m	[env.py: 870]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:25:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.56223448 -0.16665582  0.06539817] yaw=-137.2deg	[env.py: 1019]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00320812 -1.30173038  0.06539817] yaw=141.4deg	[env.py: 1019]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23919085 -1.01224902  0.06539817] yaw=191.7deg	[env.py: 1019]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:25:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.9ms, total=145.0ms	[env.py: 1075]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.562, -0.167, 0.065)	[env.py: 1079]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg	[env.py: 1082]
+05/14 21:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:25:49 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:25:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:25:49 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 21:25:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:25:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:25:50 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 110.716[deg]	[grasp_sample.py: 539]
+05/14 21:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.100s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:25:50 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:25:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:25:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:25:51 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 21:25:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:25:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:25:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:25:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:25:52 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 21:25:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:25:52 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 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076399m	[env.py: 870]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:25:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02493208 -0.76853116  0.07639943] yaw=-184.6deg	[env.py: 1019]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17601621 -0.80909014  0.07639943] yaw=-184.2deg	[env.py: 1019]
+05/14 21:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.16052431 -0.97321907  0.07639943] yaw=151.7deg	[env.py: 1019]
+05/14 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:25:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
+05/14 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.025, -0.769, 0.076)	[env.py: 1079]
+05/14 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.6 deg	[env.py: 1082]
+05/14 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/14 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:25:53 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:25:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:25:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:25:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:25:53 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:25:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:25:53 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 21:25:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:25:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:25:53 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:25:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:25:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:25:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:25:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 90.773[deg]	[grasp_sample.py: 539]
+05/14 21:25:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:25:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:25:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:25:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:26:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:26:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:26:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.74s (batch: 3.07s, save: 10.68s)	[pipeline.py: 300]
+05/14 21:26:08 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.79s:
+  episode_total: mean=83.23s, total=166.45s, count=2, min=2683.5ms, max=163769.4ms
+  sensor_polling: mean=392.5ms, total=117.74s, count=300, min=369.7ms, max=571.0ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10676.1ms, max=10676.1ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=16.9ms, max=37.8ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3065.7ms, max=3065.7ms
+  task_sampling: mean=395.4ms, total=790.8ms, count=2, min=340.8ms, max=450.0ms
+  task_specific_sample: mean=392.3ms, total=784.6ms, count=2, min=338.0ms, max=446.6ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=450.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:26:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:26:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:26:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.29s (batch: 3.34s, save: 12.95s)	[pipeline.py: 300]
+05/14 21:26:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:26:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:26:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:26:09 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 21:26:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:26:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014946m	[env.py: 870]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:26:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07769157 -0.2341588  -0.01494599] yaw=-166.2deg	[env.py: 1019]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.5121716  -0.16496637 -0.01494599] yaw=-131.9deg	[env.py: 1019]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2384977  -0.44142094 -0.01494599] yaw=-130.6deg	[env.py: 1019]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:26:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.8ms, total=90.8ms	[env.py: 1075]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.078, -0.234, -0.015)	[env.py: 1079]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg	[env.py: 1082]
+05/14 21:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.154m	[env.py: 1086]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:26:09 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:26:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:26:09 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 21:26:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:26:09 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.98s:
+  episode_total: mean=92.66s, total=185.31s, count=2, min=2739.7ms, max=182572.2ms
+  sensor_polling: mean=440.3ms, total=132.10s, count=300, min=373.9ms, max=601.7ms
+  save_trajectories: mean=12.95s, total=12.95s, count=1, min=12948.1ms, max=12948.1ms
+  physics_step: mean=27.1ms, total=8.14s, count=300, min=16.8ms, max=58.2ms
+  save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3337.9ms, max=3337.9ms
+  task_sampling: mean=489.9ms, total=979.8ms, count=2, min=453.4ms, max=526.5ms
+  task_specific_sample: mean=486.6ms, total=973.2ms, count=2, min=449.6ms, max=523.6ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=452.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=30.7us, 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 21:26:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:26:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:26:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:26:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:26:11 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 21:26:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:26:11 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 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077597m	[env.py: 870]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:26:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05537003 -0.99873148 -0.07759719] yaw=180.6deg	[env.py: 1019]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13659068 -0.42246314 -0.07759719] yaw=-135.1deg	[env.py: 1019]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:26:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms	[env.py: 1075]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.055, -0.999, -0.078)	[env.py: 1079]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.6 deg	[env.py: 1082]
+05/14 21:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:26:11 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:26:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:26:11 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 21:26:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:26:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:26:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:26:12 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:26:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:26:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:26:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:26:13 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 21:26:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:26:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070723m	[env.py: 870]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:26:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0290829  -1.32742124 -0.07072288] yaw=167.2deg	[env.py: 1019]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:26:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=187.2ms, total=187.3ms	[env.py: 1075]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.029, -1.327, -0.071)	[env.py: 1079]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg	[env.py: 1082]
+05/14 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.164m	[env.py: 1086]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:26:14 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:26:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:26:14 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 21:26:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:26:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:26:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.312s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:26:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.687[m] 90.776[deg]	[grasp_sample.py: 539]
+05/14 21:26:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:26:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:26:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:26:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:26:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.262s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:26:16 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:26:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:26:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:26:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:26:17 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 21:26:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:26:17 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 21:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050972m	[env.py: 870]
+05/14 21:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:26:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04681043 -0.81976909 -0.05097151] yaw=201.7deg	[env.py: 1019]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:26:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.5ms	[env.py: 1075]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.047, -0.820, -0.051)	[env.py: 1079]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.7 deg	[env.py: 1082]
+05/14 21:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/14 21:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:26:18 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:26:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:26:18 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 21:26:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:26:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:26:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.239s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:26:20 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:26:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:26:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:26:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:26:22 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 21:26:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:26:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023622m	[env.py: 870]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:26:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.28602301 -0.48768309  0.02362204] yaw=-155.1deg	[env.py: 1019]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15377112 -0.12311538  0.02362204] yaw=-154.7deg	[env.py: 1019]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.36092733 -0.06898834  0.02362204] yaw=-109.3deg	[env.py: 1019]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms	[env.py: 1075]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.286, -0.488, 0.024)	[env.py: 1079]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/14 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:26:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:26:22 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:26:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:26:22 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 21:26:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:26:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:26:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:26:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 57.752[deg]	[grasp_sample.py: 539]
+05/14 21:26:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:26:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:26:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:26:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:26:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:26:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:26:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:26:59 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 21:26:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:27:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:27:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.137[m] 4.473[deg]	[grasp_sample.py: 539]
+05/14 21:27:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:27:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:27:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:27:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:27:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:27:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:28:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:28:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:28:06 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 21:28:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:28:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:28:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:28:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.544[deg]	[grasp_sample.py: 539]
+05/14 21:28:10 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:28:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:28:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:28:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:28:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:28:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:28:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:28:11 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 21:28:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:28:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.058m, effective arm-mount z=0.802m (base_body_z=-0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057675m	[env.py: 870]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:28:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05583942 -0.79692996 -0.05767487] yaw=-176.1deg	[env.py: 1019]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21394058 -1.08208389 -0.05767487] yaw=136.7deg	[env.py: 1019]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.48972209  0.00869097 -0.05767487] yaw=-117.6deg	[env.py: 1019]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:28:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=307.5ms, total=307.5ms	[env.py: 1075]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.056, -0.797, -0.058)	[env.py: 1079]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg	[env.py: 1082]
+05/14 21:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/14 21:28:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:28:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:28:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:28:12 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:28:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:28:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:28:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:28:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:28:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:28:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.571[m] 45.038[deg]	[grasp_sample.py: 539]
+05/14 21:28:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:28:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:28:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:28:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:28:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:28:31 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:28:46 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:28:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:28:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:28:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:28:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:28:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:28:52 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:28:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:28:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:29:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:29:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:29:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.47s (batch: 3.51s, save: 10.97s)	[pipeline.py: 300]
+05/14 21:29:01 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.81s:
+  episode_total: mean=95.60s, total=191.20s, count=2, min=2601.3ms, max=188600.6ms
+  sensor_polling: mean=405.7ms, total=121.70s, count=300, min=373.7ms, max=723.8ms
+  save_trajectories: mean=10.97s, total=10.97s, count=1, min=10966.8ms, max=10966.8ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=16.7ms, max=61.8ms
+  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3506.3ms, max=3506.3ms
+  task_sampling: mean=406.1ms, total=812.3ms, count=2, min=333.2ms, max=479.0ms
+  task_specific_sample: mean=402.4ms, total=804.7ms, count=2, min=329.9ms, max=474.8ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=2.0ms, max=2.1ms
+  mj_forward_sync: mean=581.5us, total=1.2ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.4us, 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 21:29:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:29:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:29:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:29:02 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 21:29:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:29:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005693m	[env.py: 870]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:29:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08855639 -0.92854684  0.00569256] yaw=179.6deg	[env.py: 1019]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26564707 -0.54181049  0.00569256] yaw=-177.2deg	[env.py: 1019]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.01677589 -1.12355713  0.00569256] yaw=188.2deg	[env.py: 1019]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:29:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.3ms, total=145.3ms	[env.py: 1075]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.089, -0.929, 0.006)	[env.py: 1079]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg	[env.py: 1082]
+05/14 21:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:29:03 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:29:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:29:03 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 21:29:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:29:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:29:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.239s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:29:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 98.732[deg]	[grasp_sample.py: 539]
+05/14 21:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:29:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:29:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:29:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:29:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:29:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.04s (batch: 3.15s, save: 10.89s)	[pipeline.py: 300]
+05/14 21:29:06 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.69s:
+  episode_total: mean=43.11s, total=172.45s, count=4, min=2769.1ms, max=163990.1ms
+  sensor_polling: mean=392.3ms, total=117.69s, count=300, min=372.7ms, max=585.9ms
+  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10889.0ms, max=10889.0ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.9ms, max=34.7ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3148.3ms, max=3148.3ms
+  task_sampling: mean=422.1ms, total=1.69s, count=4, min=365.5ms, max=448.5ms
+  task_specific_sample: mean=419.0ms, total=1.68s, count=4, min=361.4ms, max=446.0ms
+  scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=455.7us, total=1.8ms, count=4, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:29:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:29:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:29:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.66s (batch: 3.05s, save: 10.62s)	[pipeline.py: 300]
+05/14 21:29:06 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=175.52s, total=175.52s, count=1, min=175521.1ms, max=175521.1ms
+  sensor_polling: mean=422.6ms, total=126.79s, count=300, min=385.7ms, max=627.9ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10615.9ms, max=10615.9ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=19.0ms, max=65.2ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3045.9ms, max=3045.9ms
+  task_sampling: mean=467.5ms, total=467.5ms, count=1, min=467.5ms, max=467.5ms
+  task_specific_sample: mean=463.7ms, total=463.7ms, count=1, min=463.7ms, max=463.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=450.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:29:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:29:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:29:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:29:07 INFO: [Worker 0] [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 21:29:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:29:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053437m	[env.py: 870]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:29:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.47033962 -0.12538655 -0.05343654] yaw=-117.8deg	[env.py: 1019]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.28755008 -1.11668087 -0.05343654] yaw=134.9deg	[env.py: 1019]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:29:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.5ms, total=234.5ms	[env.py: 1075]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.470, -0.125, -0.053)	[env.py: 1079]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.8 deg	[env.py: 1082]
+05/14 21:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:29:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:29:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:29:08 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 21:29:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:29:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:29:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:29:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:29:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:29:08 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 21:29:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:29:08 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 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062965m	[env.py: 870]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:29:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08310129 -0.28347941  0.06296548] yaw=-131.7deg	[env.py: 1019]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.5410688  -0.06950459  0.06296548] yaw=-114.4deg	[env.py: 1019]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27675092 -0.52290323  0.06296548] yaw=-134.4deg	[env.py: 1019]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:29:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.2ms	[env.py: 1075]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.083, -0.283, 0.063)	[env.py: 1079]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
+05/14 21:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m	[env.py: 1086]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:29:08 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:29:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:29:08 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 21:29:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:29:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:29:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:29:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 66.894[deg]	[grasp_sample.py: 539]
+05/14 21:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:29:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:29:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.563s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:29:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:29:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:29:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:29:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:29:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:29:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:29:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:29:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070250m	[env.py: 870]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:29:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0288769  -0.89906568  0.07025038] yaw=161.2deg	[env.py: 1019]
+05/14 21:29:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.28227871 -0.32358557  0.07025038] yaw=-142.1deg	[env.py: 1019]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21482626 -0.89898286  0.07025038] yaw=172.9deg	[env.py: 1019]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:29:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms	[env.py: 1075]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.029, -0.899, 0.070)	[env.py: 1079]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg	[env.py: 1082]
+05/14 21:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.106m	[env.py: 1086]
+05/14 21:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:29:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:29:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:29:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:29:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:29:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:29:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:29:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:29:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:29:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.850[m] 121.696[deg]	[grasp_sample.py: 539]
+05/14 21:29:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:29:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:29:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:29:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:29:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:29:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:30:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:30:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:30:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:30:34 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:30:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:30:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:30:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:30:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:30:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:30:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:30:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:30:58 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 21:30:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:30:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:31:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.256s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:31:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.656[deg]	[grasp_sample.py: 539]
+05/14 21:31:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:31:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:31:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:31:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:31:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.88s (batch: 3.30s, save: 10.59s)	[pipeline.py: 300]
+05/14 21:31:09 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.36s:
+  episode_total: mean=93.18s, total=465.89s, count=5, min=2812.7ms, max=177989.4ms
+  sensor_polling: mean=444.1ms, total=361.96s, count=815, min=379.8ms, max=680.5ms
+  physics_step: mean=25.7ms, total=20.98s, count=815, min=16.7ms, max=54.3ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10586.7ms, max=10586.7ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3296.4ms, max=3296.4ms
+  task_sampling: mean=472.9ms, total=2.36s, count=5, min=411.2ms, max=589.1ms
+  task_specific_sample: mean=469.3ms, total=2.35s, count=5, min=408.7ms, max=586.5ms
+  scene_randomize: mean=1.8ms, total=9.2ms, count=5, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=561.0us, total=2.8ms, count=5, min=0.4ms, max=0.7ms
+  policy_setup: mean=19.2us, 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 21:31:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:31:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:31:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:31:11 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 21:31:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:31:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057271m	[env.py: 870]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:31:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.23184559 -0.55271012  0.05727085] yaw=-145.8deg	[env.py: 1019]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.33107871  0.0324326   0.05727085] yaw=-143.9deg	[env.py: 1019]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=168.7ms, total=168.7ms	[env.py: 1075]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.232, -0.553, 0.057)	[env.py: 1079]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
+05/14 21:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:31:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:31:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:31:11 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 21:31:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:31:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:31:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:31:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 87.153[deg]	[grasp_sample.py: 539]
+05/14 21:31:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:31:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:31:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:13 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 21:31:16 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:31:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:31:22 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 21:31:22 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.98s:
+  episode_total: mean=66.32s, total=132.65s, count=2, min=3154.4ms, max=129494.4ms
+  sensor_polling: mean=390.0ms, total=116.99s, count=300, min=366.3ms, max=581.8ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.9ms, max=37.9ms
+  task_sampling: mean=487.6ms, total=975.2ms, count=2, min=417.5ms, max=557.7ms
+  task_specific_sample: mean=484.3ms, total=968.5ms, count=2, min=413.7ms, max=554.8ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=458.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:31:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:31:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:31:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:31:23 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 21:31:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:31:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041499m	[env.py: 870]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:31:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 142.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1185598  -0.7502426  -0.04149921] yaw=-195.9deg	[env.py: 1019]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:31:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.4ms, total=197.4ms	[env.py: 1075]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.119, -0.750, -0.041)	[env.py: 1079]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.9 deg	[env.py: 1082]
+05/14 21:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.195m	[env.py: 1086]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:31:24 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:31:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:31:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:31:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:31:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:31:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.123s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:31:26 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:31:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:31:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:31:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:31:28 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 21:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061877m	[env.py: 870]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:31:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29278656 -0.61651838  0.06187727] yaw=-152.3deg	[env.py: 1019]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms	[env.py: 1075]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.293, -0.617, 0.062)	[env.py: 1079]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/14 21:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:31:28 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:31:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:31:28 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 21:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:31:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:31:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 62.090[deg]	[grasp_sample.py: 539]
+05/14 21:31:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:31:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:31:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:31:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:31:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:31:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:31:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:31:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:31:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:31:44 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.875[deg]	[grasp_sample.py: 539]
+05/14 21:31:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:31:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:31:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:46 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:31:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:31:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:31:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.07s (batch: 3.15s, save: 10.92s)	[pipeline.py: 300]
+05/14 21:31:53 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
+  episode_total: mean=170.36s, total=170.36s, count=1, min=170364.9ms, max=170364.9ms
+  sensor_polling: mean=406.4ms, total=121.91s, count=300, min=376.1ms, max=693.7ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10923.0ms, max=10923.0ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=16.7ms, max=36.9ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3147.8ms, max=3147.8ms
+  task_sampling: mean=409.2ms, total=409.2ms, count=1, min=409.2ms, max=409.2ms
+  task_specific_sample: mean=405.4ms, total=405.4ms, count=1, min=405.4ms, max=405.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=459.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, 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 21:31:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:31:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:31:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:31:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:31:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:31:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.060m, effective arm-mount z=0.800m (base_body_z=-0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060387m	[env.py: 870]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:31:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2081269  -0.53463658 -0.06038718] yaw=-151.3deg	[env.py: 1019]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08049861 -0.74702363 -0.06038718] yaw=-182.5deg	[env.py: 1019]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00549335 -0.53544964 -0.06038718] yaw=-167.5deg	[env.py: 1019]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:31:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.1ms	[env.py: 1075]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.208, -0.535, -0.060)	[env.py: 1079]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg	[env.py: 1082]
+05/14 21:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:31:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:31:55 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:31:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:31:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:31:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:31:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:31:56 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.651[m] 114.187[deg]	[grasp_sample.py: 539]
+05/14 21:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:31:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:31:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:31:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:32:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:32:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:32:06 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:32:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:32:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:32:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:32:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:32:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:32:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:32:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:32:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:32:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.67s (batch: 3.04s, save: 10.63s)	[pipeline.py: 300]
+05/14 21:32:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=193.18s, total=193.18s, count=1, min=193178.4ms, max=193178.4ms
+  sensor_polling: mean=406.2ms, total=121.86s, count=300, min=374.6ms, max=600.1ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10633.3ms, max=10633.3ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=21.5ms, max=36.7ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3040.0ms, max=3040.0ms
+  task_sampling: mean=491.3ms, total=491.3ms, count=1, min=491.3ms, max=491.3ms
+  task_specific_sample: mean=487.2ms, total=487.2ms, count=1, min=487.2ms, max=487.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=458.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, 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 21:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:32:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:32:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:32:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:32:22 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 21:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090543m	[env.py: 870]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0655274  -1.13347125  0.09054299] yaw=149.9deg	[env.py: 1019]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13309697 -0.99683279  0.09054299] yaw=153.6deg	[env.py: 1019]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04138114 -0.71731335  0.09054299] yaw=-156.8deg	[env.py: 1019]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.1ms, total=195.1ms	[env.py: 1075]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.066, -1.133, 0.091)	[env.py: 1079]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.9 deg	[env.py: 1082]
+05/14 21:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:32:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:32:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:32:22 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 21:32:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:32:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:32:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.202s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:32:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 91.624[deg]	[grasp_sample.py: 539]
+05/14 21:32:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:32:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:32:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:32:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:32:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:33:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:33:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:33:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:33:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:33:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:33:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:33:39 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:33:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:33:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:33:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:33:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:33:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:33:59 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/14 21:34:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:34:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:34:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.00s (batch: 3.21s, save: 10.79s)	[pipeline.py: 300]
+05/14 21:34:05 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s:
+  episode_total: mean=174.56s, total=174.56s, count=1, min=174558.4ms, max=174558.4ms
+  sensor_polling: mean=420.2ms, total=126.05s, count=300, min=387.8ms, max=682.0ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10786.7ms, max=10786.7ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=16.8ms, max=33.9ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3210.9ms, max=3210.9ms
+  task_sampling: mean=443.0ms, total=443.0ms, count=1, min=443.0ms, max=443.0ms
+  task_specific_sample: mean=439.0ms, total=439.0ms, count=1, min=439.0ms, max=439.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=456.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, 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 21:34:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:34:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:34:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:34:06 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 21:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:34:06 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 21:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051232m	[env.py: 870]
+05/14 21:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=302.9ms, total=302.9ms	[env.py: 1105]
+05/14 21:34:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 21:34:07 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 21:34:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:34:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:34:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:34:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:34:08 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 21:34:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:34:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048002m	[env.py: 870]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:34:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18945805 -0.27461829  0.04800234] yaw=-173.6deg	[env.py: 1019]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.18614919 -0.59994345  0.04800234] yaw=-166.9deg	[env.py: 1019]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.23227385 -0.39384137  0.04800234] yaw=-145.8deg	[env.py: 1019]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:34:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.6ms, total=170.7ms	[env.py: 1075]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.189, -0.275, 0.048)	[env.py: 1079]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.6 deg	[env.py: 1082]
+05/14 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/14 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:34:09 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:34:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:34:09 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 21:34:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:34:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:34:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:34:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.703[m] 81.934[deg]	[grasp_sample.py: 539]
+05/14 21:34:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:34:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:34:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:34:12 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 21:34:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:34:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:34:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.19s (batch: 3.01s, save: 11.19s)	[pipeline.py: 300]
+05/14 21:34:14 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s:
+  episode_total: mean=84.28s, total=168.56s, count=2, min=2730.0ms, max=165829.8ms
+  sensor_polling: mean=394.5ms, total=117.56s, count=298, min=371.8ms, max=637.4ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11188.3ms, max=11188.3ms
+  physics_step: mean=24.3ms, total=7.24s, count=298, min=21.6ms, max=35.1ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3005.6ms, max=3005.6ms
+  task_sampling: mean=450.4ms, total=900.9ms, count=2, min=445.9ms, max=455.0ms
+  task_specific_sample: mean=446.7ms, total=893.3ms, count=2, min=443.0ms, max=450.3ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.6ms, max=1.7ms
+  mj_forward_sync: mean=521.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.9us, 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 21:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:34:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:34:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:34:15 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 21:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:34:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053923m	[env.py: 870]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2461631  -1.01598912 -0.05392281] yaw=142.1deg	[env.py: 1019]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00677397 -0.97426057 -0.05392281] yaw=144.9deg	[env.py: 1019]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13243545 -1.22465741 -0.05392281] yaw=134.2deg	[env.py: 1019]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms	[env.py: 1075]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.246, -1.016, -0.054)	[env.py: 1079]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg	[env.py: 1082]
+05/14 21:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:34:16 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:34:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:34:16 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 21:34:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:34:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:34:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:34:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.593[m] 76.003[deg]	[grasp_sample.py: 539]
+05/14 21:34:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:34:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:34:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:34:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:34:28 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:34:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:34:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:34:39 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:34:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:34:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:34:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.73s (batch: 3.16s, save: 11.57s)	[pipeline.py: 300]
+05/14 21:34:43 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.42s:
+  episode_total: mean=169.24s, total=169.24s, count=1, min=169240.1ms, max=169240.1ms
+  sensor_polling: mean=400.0ms, total=120.00s, count=300, min=363.3ms, max=676.7ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11567.2ms, max=11567.2ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=17.2ms, max=60.9ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3159.1ms, max=3159.1ms
+  task_sampling: mean=420.8ms, total=420.8ms, count=1, min=420.8ms, max=420.8ms
+  task_specific_sample: mean=416.8ms, total=416.8ms, count=1, min=416.8ms, max=416.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.0us, 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 21:34:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:34:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:34:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:34:45 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 21:34:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:34:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052114m	[env.py: 870]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:34:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.58026506 -0.09854245  0.05211415] yaw=-135.9deg	[env.py: 1019]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03149803 -0.25576893  0.05211415] yaw=-175.4deg	[env.py: 1019]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10422914 -0.76331546  0.05211415] yaw=-174.2deg	[env.py: 1019]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=168.9ms, total=168.9ms	[env.py: 1075]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.580, -0.099, 0.052)	[env.py: 1079]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
+05/14 21:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:34:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:34:45 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:34:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:34:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:34:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:34:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:34:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.092s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:34:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 89.765[deg]	[grasp_sample.py: 539]
+05/14 21:34:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:34:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:34:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:34:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:34:59 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:34:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:34:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:35:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:35:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:35:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:35:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.57s (batch: 3.01s, save: 10.55s)	[pipeline.py: 300]
+05/14 21:35:13 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
+  episode_total: mean=171.92s, total=171.92s, count=1, min=171923.3ms, max=171923.3ms
+  sensor_polling: mean=401.8ms, total=120.54s, count=300, min=366.0ms, max=657.6ms
+  save_trajectories: mean=10.55s, total=10.55s, count=1, min=10554.4ms, max=10554.4ms
+  physics_step: mean=25.7ms, total=7.71s, count=300, min=16.8ms, max=94.1ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3013.7ms, max=3013.7ms
+  task_sampling: mean=467.8ms, total=467.8ms, count=1, min=467.8ms, max=467.8ms
+  task_specific_sample: mean=464.7ms, total=464.7ms, count=1, min=464.7ms, max=464.7ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=457.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, 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 21:35:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:35:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:35:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:35:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:35:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:35:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:35:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:35:15 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 21:35:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:35:15 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 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087373m	[env.py: 870]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:35:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.5ms, total=208.5ms	[env.py: 1105]
+05/14 21:35:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 21:35:15 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 21:35:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:35:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:35:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:35:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:35:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:35:17 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 21:35:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:35:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059966m	[env.py: 870]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:35:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 136.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04102681 -0.93067809  0.0599658 ] yaw=194.3deg	[env.py: 1019]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30104868 -0.12773753  0.0599658 ] yaw=-111.1deg	[env.py: 1019]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.01754761 -0.83099356  0.0599658 ] yaw=179.6deg	[env.py: 1019]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:35:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms	[env.py: 1075]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -0.931, 0.060)	[env.py: 1079]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 194.3 deg	[env.py: 1082]
+05/14 21:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:35:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:35:17 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:35:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:35:17 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 21:35:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:35:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:35:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:35:20 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.728[m] 64.441[deg]	[grasp_sample.py: 539]
+05/14 21:35:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:35:21 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:35:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:35:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:35:22 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 21:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020985m	[env.py: 870]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.3605384  -0.25778485 -0.0209854 ] yaw=-128.1deg	[env.py: 1019]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26914497 -0.77378581 -0.0209854 ] yaw=-188.4deg	[env.py: 1019]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.2ms, total=181.3ms	[env.py: 1075]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.361, -0.258, -0.021)	[env.py: 1079]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.1 deg	[env.py: 1082]
+05/14 21:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:35:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:35:23 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 21:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:35:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:35:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.352s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:35:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 102.100[deg]	[grasp_sample.py: 539]
+05/14 21:35:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:35:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:35:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:35:26 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 21:35:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:35:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:35:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:35:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:36:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:36:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:36:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:36:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:36:34 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:36:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:36:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:36:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:36:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:36:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:36:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:36:50 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.247s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:36:50 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.362[deg]	[grasp_sample.py: 539]
+05/14 21:36:51 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:36:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:36:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:36:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:36:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:36:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:36:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:36:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:36:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:36:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045543m	[env.py: 870]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:36:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60818529 -0.12076369  0.04554256] yaw=-101.3deg	[env.py: 1019]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00182866 -0.52477519  0.04554256] yaw=-185.4deg	[env.py: 1019]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30425465 -1.2057558   0.04554256] yaw=131.0deg	[env.py: 1019]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=189.1ms, total=189.2ms	[env.py: 1075]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.608, -0.121, 0.046)	[env.py: 1079]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.3 deg	[env.py: 1082]
+05/14 21:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:36:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:36:54 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:36:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:36:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:36:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:36:54 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:36:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:36:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:36:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:36:55 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.569[m] 118.662[deg]	[grasp_sample.py: 539]
+05/14 21:36:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:36:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:36:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:36:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:37:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:37:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:37:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.19s (batch: 3.38s, save: 10.81s)	[pipeline.py: 300]
+05/14 21:37:06 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
+  episode_total: mean=88.98s, total=177.96s, count=2, min=315.9ms, max=177641.2ms
+  sensor_polling: mean=427.5ms, total=128.24s, count=300, min=390.4ms, max=677.3ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10807.3ms, max=10807.3ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=16.8ms, max=34.4ms
+  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3384.0ms, max=3384.0ms
+  task_specific_sample: mean=368.9ms, total=737.8ms, count=2, min=309.3ms, max=428.5ms
+  task_sampling: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
+  task_sampling_failed: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=457.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:37:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:37:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:37:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:37:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:37:07 INFO: [Worker 0] [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 21:37:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:37:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000191m	[env.py: 870]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:37:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-2.86343850e-01 -4.95634951e-01 -1.90792480e-04] yaw=-175.8deg	[env.py: 1019]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-3.22394134e-01 -8.43739680e-02 -1.90792480e-04] yaw=-137.8deg	[env.py: 1019]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-2.47924221e-01 -1.89764807e-01 -1.90792480e-04] yaw=-115.7deg	[env.py: 1019]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:37:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.7ms	[env.py: 1075]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.286, -0.496, -0.000)	[env.py: 1079]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg	[env.py: 1082]
+05/14 21:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/14 21:37:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:37:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:37:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:37:08 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 21:37:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:37:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:37:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:37:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:37:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.70s (batch: 3.04s, save: 10.66s)	[pipeline.py: 300]
+05/14 21:37:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
+  episode_total: mean=173.56s, total=173.56s, count=1, min=173559.6ms, max=173559.6ms
+  sensor_polling: mean=419.6ms, total=125.87s, count=300, min=376.9ms, max=589.5ms
+  save_trajectories: mean=10.66s, total=10.66s, count=1, min=10655.1ms, max=10655.1ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=16.9ms, max=34.9ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3040.7ms, max=3040.7ms
+  task_sampling: mean=497.7ms, total=497.7ms, count=1, min=497.7ms, max=497.7ms
+  task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=456.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.4us, 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 21:37:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:37:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 92.228[deg]	[grasp_sample.py: 539]
+05/14 21:37:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:37:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:37:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:37:10 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 21:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:37:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:37:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:37:10 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 21:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045404m	[env.py: 870]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.21780527 -0.83134932  0.04540389] yaw=190.6deg	[env.py: 1019]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.38458066  0.14022859  0.04540389] yaw=-140.8deg	[env.py: 1019]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08698706 -0.90150985  0.04540389] yaw=191.6deg	[env.py: 1019]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:37:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.4ms, total=145.4ms	[env.py: 1075]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.218, -0.831, 0.045)	[env.py: 1079]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.6 deg	[env.py: 1082]
+05/14 21:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:37:10 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:37:11 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 21:37:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:37:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:37:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:37:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 91.205[deg]	[grasp_sample.py: 539]
+05/14 21:37:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:37:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:37:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:37:12 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 21:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:37:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:37:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:37:43 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 21:37:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:37:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:37:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:37:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:37:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.993s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:37:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.659[deg]	[grasp_sample.py: 539]
+05/14 21:37:46 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:37:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:37:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:37:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:37:48 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 21:37:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:37:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073906m	[env.py: 870]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:37:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35096429 -0.12369203  0.07390561] yaw=-116.0deg	[env.py: 1019]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08505307 -0.70328405  0.07390561] yaw=-177.4deg	[env.py: 1019]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19574046 -1.04551507  0.07390561] yaw=191.0deg	[env.py: 1019]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:37:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.8ms	[env.py: 1075]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.351, -0.124, 0.074)	[env.py: 1079]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.0 deg	[env.py: 1082]
+05/14 21:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:37:48 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:37:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:37:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:37:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:37:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:37:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.908s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:37:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 79.317[deg]	[grasp_sample.py: 539]
+05/14 21:37:51 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:37:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:37:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:37:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:37:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:37:53 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 21:37:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:37:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020857m	[env.py: 870]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:37:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2298863  -1.26628401 -0.02085686] yaw=149.5deg	[env.py: 1019]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.34915174 -0.31058324 -0.02085686] yaw=-118.5deg	[env.py: 1019]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.56983871 -0.0793217  -0.02085686] yaw=-144.6deg	[env.py: 1019]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:37:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.3ms	[env.py: 1075]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.230, -1.266, -0.021)	[env.py: 1079]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.5 deg	[env.py: 1082]
+05/14 21:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:37:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:37:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:37:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:37:53 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:37:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:37:53 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 21:37:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:37:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:37:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:37:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:37:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.548[m] 102.653[deg]	[grasp_sample.py: 539]
+05/14 21:37:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:37:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:37:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:37:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:38:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:38:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:38:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:38:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:38:57 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 21:38:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:38:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:38:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.222s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:38:59 INFO: [Worker 0] Feasible grasp found 129 (originally 14): w/ 0.044[m] 1.451[deg]	[grasp_sample.py: 539]
+05/14 21:39:01 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:39:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:39:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:39:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:39:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:39:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:39:02 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 21:39:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:39:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.059423m	[env.py: 870]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:39:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04098406 -0.58310459 -0.05942333] yaw=-171.2deg	[env.py: 1019]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2657609  -1.08182066 -0.05942333] yaw=177.8deg	[env.py: 1019]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.083986   -0.77162174 -0.05942333] yaw=-172.9deg	[env.py: 1019]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:39:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.8ms	[env.py: 1075]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.041, -0.583, -0.059)	[env.py: 1079]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg	[env.py: 1082]
+05/14 21:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.139m	[env.py: 1086]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:39:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:39:03 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:39:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:39:03 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 21:39:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:39:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:39:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.300s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:39:05 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:39:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:39:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:39:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:39:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:39:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:39:06 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 21:39:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:39:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097803m	[env.py: 870]
+05/14 21:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:39:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.4348861  -0.1879398   0.09780347] yaw=-149.2deg	[env.py: 1019]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22572052 -0.65364612  0.09780347] yaw=-195.2deg	[env.py: 1019]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27528021 -0.62282831  0.09780347] yaw=-172.5deg	[env.py: 1019]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:39:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms	[env.py: 1075]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.435, -0.188, 0.098)	[env.py: 1079]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/14 21:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/14 21:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:39:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:39:07 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:39:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:39:07 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 21:39:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:39:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:39:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:39:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.700[m] 117.034[deg]	[grasp_sample.py: 539]
+05/14 21:39:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:39:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:39:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:39:12 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 21:39:25 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:39:27 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:39:46 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:39:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:39:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:39:50 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:39:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:39:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:40:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:40:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:40:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.84s (batch: 3.17s, save: 10.67s)	[pipeline.py: 300]
+05/14 21:40:00 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s:
+  episode_total: mean=170.04s, total=170.04s, count=1, min=170037.7ms, max=170037.7ms
+  sensor_polling: mean=407.6ms, total=122.29s, count=300, min=378.3ms, max=638.9ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10666.4ms, max=10666.4ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=21.7ms, max=35.1ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3172.6ms, max=3172.6ms
+  task_sampling: mean=418.1ms, total=418.1ms, count=1, min=418.1ms, max=418.1ms
+  task_specific_sample: mean=413.7ms, total=413.7ms, count=1, min=413.7ms, max=413.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=531.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:40:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:40:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:40:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:40:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:40:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:40:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:40:01 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 21:40:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:40:01 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 21:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086306m	[env.py: 870]
+05/14 21:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:40:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.36188748 -0.43361585 -0.08630644] yaw=-167.8deg	[env.py: 1019]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25907047 -0.61310697 -0.08630644] yaw=-144.6deg	[env.py: 1019]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.01610071 -1.31321777 -0.08630644] yaw=129.1deg	[env.py: 1019]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.5ms, total=166.6ms	[env.py: 1075]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.362, -0.434, -0.086)	[env.py: 1079]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/14 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/14 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:40:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:40:02 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:40:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:40:02 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 21:40:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:40:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:40:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:40:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.635[m] 41.001[deg]	[grasp_sample.py: 539]
+05/14 21:40:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:40:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:40:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:40:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:40:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:40:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.84s (batch: 3.08s, save: 10.75s)	[pipeline.py: 300]
+05/14 21:40:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s:
+  episode_total: mean=176.57s, total=176.57s, count=1, min=176567.5ms, max=176567.5ms
+  sensor_polling: mean=425.0ms, total=127.51s, count=300, min=401.7ms, max=719.5ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10754.4ms, max=10754.4ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=16.9ms, max=32.6ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3084.4ms, max=3084.4ms
+  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
+  task_specific_sample: mean=422.2ms, total=422.2ms, count=1, min=422.2ms, max=422.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=472.4us, 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 21:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:40:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:40:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:40:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:40:05 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 21:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028103m	[env.py: 870]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21092228 -0.3736299  -0.02810325] yaw=-163.2deg	[env.py: 1019]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05972957 -0.84667002 -0.02810325] yaw=197.9deg	[env.py: 1019]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22963974 -0.18930177 -0.02810325] yaw=-171.0deg	[env.py: 1019]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=100.4ms, total=100.5ms	[env.py: 1075]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.211, -0.374, -0.028)	[env.py: 1079]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
+05/14 21:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:40:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:40:06 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:40:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:40:06 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 21:40:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:40:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:40:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.276s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:40:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 114.294[deg]	[grasp_sample.py: 539]
+05/14 21:40:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:40:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:40:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:40:09 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 21:40:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:40:18 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:40:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:40:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:40:39 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:40:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 21:40:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:40:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:40:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:40:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.29s (batch: 3.28s, save: 12.01s)	[pipeline.py: 300]
+05/14 21:40:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:40:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.74s:
+  episode_total: mean=66.80s, total=334.00s, count=5, min=222.2ms, max=181697.9ms
+  sensor_polling: mean=419.3ms, total=246.11s, count=587, min=371.5ms, max=632.9ms
+  physics_step: mean=26.0ms, total=15.26s, count=587, min=17.1ms, max=39.3ms
+  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12013.8ms, max=12013.8ms
+  save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3280.5ms, max=3280.5ms
+  task_specific_sample: mean=388.7ms, total=1.94s, count=5, min=215.2ms, max=448.2ms
+  task_sampling: mean=435.2ms, total=1.74s, count=4, min=419.1ms, max=451.1ms
+  task_sampling_failed: mean=222.2ms, total=222.2ms, count=1, min=222.2ms, max=222.2ms
+  scene_randomize: mean=1.6ms, total=8.1ms, count=5, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=455.2us, total=2.3ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.1ms, count=4, 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 21:40:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:40:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:40:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:40:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:40:56 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 21:40:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:40:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057164m	[env.py: 870]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:40:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21364979 -0.44647284 -0.05716414] yaw=-181.0deg	[env.py: 1019]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.38165836 -0.2948375  -0.05716414] yaw=-146.3deg	[env.py: 1019]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:40:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.3ms, total=225.3ms	[env.py: 1075]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.214, -0.446, -0.057)	[env.py: 1079]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.0 deg	[env.py: 1082]
+05/14 21:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:40:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:40:57 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:40:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:40:57 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 21:40:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:40:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:40:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.437s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:40:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 107.857[deg]	[grasp_sample.py: 539]
+05/14 21:41:00 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:41:02 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:41:02 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:41:02 INFO: [Worker 0] Worker 0 completed house 1: 7/7 successful episodes	[pipeline.py: 1323]
+05/14 21:41:02 INFO: [Worker 0] [PROFILE] House 1 complete: 7/7 successful, 7 episodes, total_time=2594.05s
+  House averages:
+  episode_total: mean=79.86s, total=1437.44s, count=18, min=222.2ms, max=193178.4ms
+  sensor_polling: mean=407.3ms, total=972.15s, count=2387, min=366.0ms, max=657.6ms
+  save_trajectories: mean=10.97s, total=76.76s, count=7, min=10554.4ms, max=12013.8ms
+  physics_step: mean=25.1ms, total=59.95s, count=2387, min=16.8ms, max=94.1ms
+  save_batch_prep: mean=3.14s, total=22.00s, count=7, min=3009.2ms, max=3446.6ms
+  task_sampling: mean=624.0ms, total=10.61s, count=17, min=340.8ms, max=3612.0ms
+  task_specific_sample: mean=425.0ms, total=7.65s, count=18, min=215.2ms, max=529.2ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3117.7ms, max=3117.7ms
+  scene_env_create: mean=2.05s, total=2.05s, count=1, min=2048.5ms, max=2048.5ms
+  scene_compile: mean=900.9ms, total=900.9ms, count=1, min=900.9ms, max=900.9ms
+  compile_mujoco: mean=643.8ms, total=643.8ms, count=1, min=643.8ms, max=643.8ms
+  task_sampling_failed: mean=222.2ms, total=222.2ms, count=1, min=222.2ms, max=222.2ms
+  compile_xml_load: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  scene_asset_install: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms
+  asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  scene_randomize: mean=1.8ms, total=31.7ms, count=18, min=1.1ms, max=2.9ms
+  asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  mj_forward_sync: mean=463.2us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=18.9us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 21:41:02 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 21:41:02 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 7 episodes, total_time=2594.05s
+  Worker averages:
+  episode_total: mean=79.86s, total=1437.44s, count=18, min=222.2ms, max=193178.4ms
+  sensor_polling: mean=407.3ms, total=972.15s, count=2387, min=366.0ms, max=657.6ms
+  save_trajectories: mean=10.97s, total=76.76s, count=7, min=10554.4ms, max=12013.8ms
+  physics_step: mean=25.1ms, total=59.95s, count=2387, min=16.8ms, max=94.1ms
+  save_batch_prep: mean=3.14s, total=22.00s, count=7, min=3009.2ms, max=3446.6ms
+  task_sampling: mean=624.0ms, total=10.61s, count=17, min=340.8ms, max=3612.0ms
+  task_specific_sample: mean=425.0ms, total=7.65s, count=18, min=215.2ms, max=529.2ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3117.7ms, max=3117.7ms
+  scene_env_create: mean=2.05s, total=2.05s, count=1, min=2048.5ms, max=2048.5ms
+  scene_compile: mean=900.9ms, total=900.9ms, count=1, min=900.9ms, max=900.9ms
+  compile_mujoco: mean=643.8ms, total=643.8ms, count=1, min=643.8ms, max=643.8ms
+  task_sampling_failed: mean=222.2ms, total=222.2ms, count=1, min=222.2ms, max=222.2ms
+  compile_xml_load: mean=185.6ms, total=185.6ms, count=1, min=185.6ms, max=185.6ms
+  scene_init: mean=118.1ms, total=118.1ms, count=1, min=118.1ms, max=118.1ms
+  compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms
+  scene_asset_install: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms
+  asset_install_grasps: mean=36.8ms, total=36.8ms, count=1, min=36.8ms, max=36.8ms
+  scene_randomize: mean=1.8ms, total=31.7ms, count=18, min=1.1ms, max=2.9ms
+  asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  mj_forward_sync: mean=463.2us, total=8.3ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=18.9us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 21:41:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:41:04 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 21:41:04 INFO: Success count: 7, Total count: 7	[pipeline.py: 1491]
+05/14 21:41:04 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 21:41:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:41:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:41:22 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:41:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:41:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:41:43 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:41:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:41:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:41:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:41:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:41:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.80s (batch: 3.09s, save: 10.72s)	[pipeline.py: 300]
+05/14 21:41:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.94s:
+  episode_total: mean=107.02s, total=428.06s, count=4, min=3037.1ms, max=170974.2ms
+  sensor_polling: mean=412.1ms, total=324.77s, count=788, min=368.9ms, max=763.5ms
+  physics_step: mean=24.6ms, total=19.42s, count=788, min=16.8ms, max=35.6ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10715.2ms, max=10715.2ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3087.6ms, max=3087.6ms
+  task_sampling: mean=486.1ms, total=1.94s, count=4, min=440.1ms, max=550.0ms
+  task_specific_sample: mean=481.6ms, total=1.93s, count=4, min=436.0ms, max=543.3ms
+  scene_randomize: mean=2.1ms, total=8.3ms, count=4, min=1.8ms, max=2.8ms
+  mj_forward_sync: mean=510.7us, total=2.0ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.1us, 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 21:41:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:41:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:41:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:41:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:41:59 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 21:41:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:41:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091149m	[env.py: 870]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:41:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15626692 -0.79042287  0.09114897] yaw=-170.8deg	[env.py: 1019]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.45708902  0.09084378  0.09114897] yaw=-133.8deg	[env.py: 1019]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.1259696  -1.09621285  0.09114897] yaw=181.5deg	[env.py: 1019]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:41:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=195.8ms, total=195.9ms	[env.py: 1075]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.156, -0.790, 0.091)	[env.py: 1079]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg	[env.py: 1082]
+05/14 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:41:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:41:59 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:41:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:41:59 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 21:41:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:41:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:42:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.864s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:42:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 61.918[deg]	[grasp_sample.py: 539]
+05/14 21:42:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:42:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:42:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:42:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:42:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:42:26 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:42:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:42:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:42:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:42:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:42:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:42:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.53s (batch: 2.99s, save: 11.53s)	[pipeline.py: 300]
+05/14 21:42:47 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:42:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:42:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:42:47 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.43s:
+  episode_total: mean=165.43s, total=165.43s, count=1, min=165432.9ms, max=165432.9ms
+  sensor_polling: mean=398.4ms, total=119.52s, count=300, min=370.1ms, max=601.4ms
+  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11531.3ms, max=11531.3ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=16.9ms, max=37.8ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2994.9ms, max=2994.9ms
+  task_sampling: mean=432.4ms, total=432.4ms, count=1, min=432.4ms, max=432.4ms
+  task_specific_sample: mean=428.3ms, total=428.3ms, count=1, min=428.3ms, max=428.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=481.6us, 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 21:42:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:42:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:42:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:42:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:42:48 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 21:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050137m	[env.py: 870]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06991091 -1.1354736  -0.05013744] yaw=188.2deg	[env.py: 1019]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.29540265  0.0256535  -0.05013744] yaw=-148.7deg	[env.py: 1019]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.01238974 -0.89738837 -0.05013744] yaw=164.5deg	[env.py: 1019]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:42:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=276.3ms, total=276.4ms	[env.py: 1075]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -1.135, -0.050)	[env.py: 1079]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.2 deg	[env.py: 1082]
+05/14 21:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:42:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:42:49 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:42:49 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 21:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:42:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:42:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:42:53 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.722[m] 106.623[deg]	[grasp_sample.py: 539]
+05/14 21:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:42:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:42:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:42:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:43:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:43:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.86s (batch: 3.16s, save: 10.70s)	[pipeline.py: 300]
+05/14 21:43:01 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.35s:
+  episode_total: mean=175.62s, total=175.62s, count=1, min=175617.9ms, max=175617.9ms
+  sensor_polling: mean=426.0ms, total=127.81s, count=300, min=394.8ms, max=720.7ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10705.0ms, max=10705.0ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.9ms, max=36.1ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3159.9ms, max=3159.9ms
+  task_sampling: mean=354.3ms, total=354.3ms, count=1, min=354.3ms, max=354.3ms
+  task_specific_sample: mean=350.2ms, total=350.2ms, count=1, min=350.2ms, max=350.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=468.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:43:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:43:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:43:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:43:02 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 21:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088141m	[env.py: 870]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07093187 -1.14727475 -0.08814118] yaw=152.5deg	[env.py: 1019]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13933132 -0.28509796 -0.08814118] yaw=-152.7deg	[env.py: 1019]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42984191 -0.26216271 -0.08814118] yaw=-120.1deg	[env.py: 1019]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.1ms, total=72.1ms	[env.py: 1075]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.071, -1.147, -0.088)	[env.py: 1079]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.5 deg	[env.py: 1082]
+05/14 21:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:43:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:43:03 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:43:03 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 21:43:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:43:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:43:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.447s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:43:05 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:43:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:43:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:43:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:43:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:43:07 INFO: [Worker 0] [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 21:43:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:43:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058929m	[env.py: 870]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:43:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.1642538  -1.19544845  0.05892911] yaw=173.7deg	[env.py: 1019]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18325467 -1.08528556  0.05892911] yaw=152.0deg	[env.py: 1019]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08592322 -1.2551987   0.05892911] yaw=178.7deg	[env.py: 1019]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:43:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.4ms	[env.py: 1075]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.164, -1.195, 0.059)	[env.py: 1079]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.7 deg	[env.py: 1082]
+05/14 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:43:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:43:07 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:43:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:43:07 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 21:43:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:43:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:43:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:43:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.652[m] 106.068[deg]	[grasp_sample.py: 539]
+05/14 21:43:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:43:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:43:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:43:11 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 21:43:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:44:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:10 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:44:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:44:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 21:44:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:44:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:44:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:44:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:44:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:22 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:44:22 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.114[m] 0.532[deg]	[grasp_sample.py: 539]
+05/14 21:44:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:44:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:44:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:44:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:44:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:44:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:44:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:44:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:44:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.72s (batch: 3.18s, save: 10.54s)	[pipeline.py: 300]
+05/14 21:44:45 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
+  episode_total: mean=166.44s, total=166.44s, count=1, min=166444.7ms, max=166444.7ms
+  sensor_polling: mean=400.0ms, total=120.00s, count=300, min=375.0ms, max=685.4ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10540.1ms, max=10540.1ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=16.9ms, max=53.8ms
+  save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3177.6ms, max=3177.6ms
+  task_sampling: mean=473.8ms, total=473.8ms, count=1, min=473.8ms, max=473.8ms
+  task_specific_sample: mean=470.0ms, total=470.0ms, count=1, min=470.0ms, max=470.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:44:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:44:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:44:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:44:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:44:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:44:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:44:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046286m	[env.py: 870]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:44:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09530706 -0.18650951  0.04628583] yaw=-126.5deg	[env.py: 1019]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13724211 -0.52754219  0.04628583] yaw=-166.5deg	[env.py: 1019]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1231805  -0.93727876  0.04628583] yaw=176.5deg	[env.py: 1019]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:44:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.1ms, total=94.2ms	[env.py: 1075]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.095, -0.187, 0.046)	[env.py: 1079]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.5 deg	[env.py: 1082]
+05/14 21:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.164m	[env.py: 1086]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:44:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:44:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:44:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:44:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:44:47 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 21:44:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:44:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:44:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.883s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:44:50 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:44:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:44:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:44:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:44:51 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 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026848m	[env.py: 870]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00550206 -1.16736068 -0.02684752] yaw=173.0deg	[env.py: 1019]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.31214156 -0.41421544 -0.02684752] yaw=-125.8deg	[env.py: 1019]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.006, -1.167, -0.027)	[env.py: 1079]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
+05/14 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m	[env.py: 1086]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:44:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:44:52 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:44:52 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 21:44:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:44:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:44:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.952s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:44:55 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.726[m] 60.160[deg]	[grasp_sample.py: 539]
+05/14 21:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:44:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:44:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:44:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:45:00 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 21:45:00 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.56s:
+  episode_total: mean=132.03s, total=132.03s, count=1, min=132030.0ms, max=132030.0ms
+  sensor_polling: mean=390.9ms, total=117.26s, count=300, min=371.8ms, max=579.2ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=16.8ms, max=34.1ms
+  task_sampling: mean=558.4ms, total=558.4ms, count=1, min=558.4ms, max=558.4ms
+  task_specific_sample: mean=555.0ms, total=555.0ms, count=1, min=555.0ms, max=555.0ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:45:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:45:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:45:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:45:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:45:02 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 21:45:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:45:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057468m	[env.py: 870]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:45:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00379202 -0.96570119 -0.0574679 ] yaw=166.0deg	[env.py: 1019]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32883863 -1.1843589  -0.0574679 ] yaw=167.0deg	[env.py: 1019]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2276253  -0.95076488 -0.0574679 ] yaw=143.4deg	[env.py: 1019]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:45:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.9ms, total=106.9ms	[env.py: 1075]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -0.966, -0.057)	[env.py: 1079]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
+05/14 21:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:45:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:45:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:45:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:45:02 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 21:45:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:45:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:45:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.148s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:45:08 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.766[m] 101.353[deg]	[grasp_sample.py: 539]
+05/14 21:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:45:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:45:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:45:09 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 21:45:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:45:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:45:52 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 21:45:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:45:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:45:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:45:57 INFO: [Worker 0] Feasible grasp found 74 (originally 74): w/ 0.074[m] 19.185[deg]	[grasp_sample.py: 539]
+05/14 21:45:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:45:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:45:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:46:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:46:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:46:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:46:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:46:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:46:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.78s (batch: 3.16s, save: 10.62s)	[pipeline.py: 300]
+05/14 21:46:19 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.65s:
+  episode_total: mean=97.53s, total=195.06s, count=2, min=2953.8ms, max=192109.4ms
+  sensor_polling: mean=422.1ms, total=126.63s, count=300, min=399.4ms, max=673.8ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10622.3ms, max=10622.3ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.8ms, max=33.1ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3160.7ms, max=3160.7ms
+  task_sampling: mean=326.3ms, total=652.5ms, count=2, min=320.9ms, max=331.6ms
+  task_specific_sample: mean=322.7ms, total=645.5ms, count=2, min=318.0ms, max=327.5ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=454.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.3us, 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 21:46:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:46:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:46:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:46:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:46:20 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 21:46:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:46:20 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 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051969m	[env.py: 870]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:46:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22998699 -0.17158356 -0.05196926] yaw=-148.1deg	[env.py: 1019]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11666838 -1.17449403 -0.05196926] yaw=185.6deg	[env.py: 1019]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.47022857 -0.17516872 -0.05196926] yaw=-108.7deg	[env.py: 1019]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.8ms	[env.py: 1075]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.230, -0.172, -0.052)	[env.py: 1079]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/14 21:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:46:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:46:21 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:46:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:46:21 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 21:46:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:46:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:46:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:46:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.952s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:46:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 91.260[deg]	[grasp_sample.py: 539]
+05/14 21:46:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:46:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:46:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:46:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:46:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:46:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:46:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:46:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:46:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:46:48 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:46:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.096[m] 0.706[deg]	[grasp_sample.py: 539]
+05/14 21:46:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:46:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:46:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:46:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:47:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:47:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:47:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:47:14 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:47:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:47:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:47:30 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 21:47:30 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.36s:
+  episode_total: mean=148.36s, total=148.36s, count=1, min=148363.2ms, max=148363.2ms
+  sensor_polling: mean=393.4ms, total=118.01s, count=300, min=373.3ms, max=665.9ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.2ms, max=34.8ms
+  task_sampling: mean=358.2ms, total=358.2ms, count=1, min=358.2ms, max=358.2ms
+  task_specific_sample: mean=354.9ms, total=354.9ms, count=1, min=354.9ms, max=354.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=456.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:47:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:47:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:47:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:47:32 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 21:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:47:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088667m	[env.py: 870]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03179342 -0.56260057 -0.08866693] yaw=-150.6deg	[env.py: 1019]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03825946 -1.02075782 -0.08866693] yaw=164.5deg	[env.py: 1019]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09566812 -1.15648594 -0.08866693] yaw=185.3deg	[env.py: 1019]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.2ms, total=220.3ms	[env.py: 1075]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -0.563, -0.089)	[env.py: 1079]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg	[env.py: 1082]
+05/14 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:47:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:47:32 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:47:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:47:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:47:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:47:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.267s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:47:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.820[m] 143.897[deg]	[grasp_sample.py: 539]
+05/14 21:47:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:47:35 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:47:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 21:47:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:47:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:47:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:47:35 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 21:47:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:47:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:47:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.69s (batch: 3.36s, save: 10.34s)	[pipeline.py: 300]
+05/14 21:47:49 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.80s:
+  episode_total: mean=90.47s, total=180.93s, count=2, min=3419.3ms, max=177512.1ms
+  sensor_polling: mean=401.8ms, total=120.54s, count=300, min=382.6ms, max=663.9ms
+  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10335.7ms, max=10335.7ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=17.0ms, max=33.3ms
+  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3355.7ms, max=3355.7ms
+  task_sampling: mean=400.3ms, total=800.5ms, count=2, min=368.0ms, max=432.5ms
+  task_specific_sample: mean=396.7ms, total=793.5ms, count=2, min=364.0ms, max=429.5ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=461.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.4us, 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 21:47:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:47:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:47:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:47:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:47:50 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 21:47:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:47:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000556m	[env.py: 870]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:47:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33482895 -0.0665699  -0.00055608] yaw=-142.6deg	[env.py: 1019]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.45331766 -0.26723504 -0.00055608] yaw=-141.7deg	[env.py: 1019]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.29201806 -0.36205012 -0.00055608] yaw=-165.3deg	[env.py: 1019]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:47:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.5ms	[env.py: 1075]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.335, -0.067, -0.001)	[env.py: 1079]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
+05/14 21:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:47:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:47:51 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:47:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:47:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:47:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:47:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:47:54 INFO: [Worker 0] Feasible grasp found 217 (originally 102): w/ 0.800[m] 120.141[deg]	[grasp_sample.py: 539]
+05/14 21:47:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:47:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:47:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:47:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:48:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:48:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:48:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:48:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:48:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:48:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.856s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:48:32 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.112[m] 1.158[deg]	[grasp_sample.py: 539]
+05/14 21:48:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:48:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:48:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:48:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:48:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:48:54 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:48:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:49:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:49:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:49:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:49:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 21:49:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:49:21 INFO: [Worker 0] Object is not in grasp! 0.00008 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 21:49:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:49:21 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 21:49:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:49:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:49:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:49:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:49:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.66s (batch: 3.06s, save: 10.61s)	[pipeline.py: 300]
+05/14 21:49:29 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
+  episode_total: mean=189.21s, total=189.21s, count=1, min=189211.4ms, max=189211.4ms
+  sensor_polling: mean=424.0ms, total=127.20s, count=300, min=398.4ms, max=739.8ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10607.9ms, max=10607.9ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.8ms, max=31.9ms
+  save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3055.7ms, max=3055.7ms
+  task_sampling: mean=404.5ms, total=404.5ms, count=1, min=404.5ms, max=404.5ms
+  task_specific_sample: mean=400.4ms, total=400.4ms, count=1, min=400.4ms, max=400.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=459.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.6us, 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 21:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:49:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:49:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:49:31 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 21:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:49:31 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 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007233m	[env.py: 870]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.33610468 -1.18862331 -0.0072332 ] yaw=133.2deg	[env.py: 1019]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.07421433 -0.34776719 -0.0072332 ] yaw=-135.3deg	[env.py: 1019]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:49:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.2ms, total=223.2ms	[env.py: 1075]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.336, -1.189, -0.007)	[env.py: 1079]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 133.2 deg	[env.py: 1082]
+05/14 21:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:49:31 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:49:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:49:31 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 21:49:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:49:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:49:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:49:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.494[m] 69.130[deg]	[grasp_sample.py: 539]
+05/14 21:49:33 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:49:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:49:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:49:35 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 21:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:49:35 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 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046753m	[env.py: 870]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.34798365 -0.2600964  -0.04675319] yaw=-150.2deg	[env.py: 1019]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15618153 -0.09888549 -0.04675319] yaw=-140.3deg	[env.py: 1019]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14983005 -0.14616828 -0.04675319] yaw=-122.6deg	[env.py: 1019]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:49:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.4ms, total=105.4ms	[env.py: 1075]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.348, -0.260, -0.047)	[env.py: 1079]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
+05/14 21:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:49:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:49:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:49:35 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 21:49:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:49:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:49:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:49:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.504[m] 64.610[deg]	[grasp_sample.py: 539]
+05/14 21:49:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:49:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:49:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:49:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 17.064s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:49:38 INFO: [Worker 0] Feasible grasp found 217 (originally 102): w/ 1.179[m] 130.710[deg]	[grasp_sample.py: 539]
+05/14 21:49:39 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:49:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:49:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:49:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:49:41 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 21:49:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:49:41 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 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037145m	[env.py: 870]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:49:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39403982  0.02945906 -0.03714474] yaw=-140.0deg	[env.py: 1019]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16316727 -0.6063735  -0.03714474] yaw=-174.8deg	[env.py: 1019]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:49:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.6ms, total=194.6ms	[env.py: 1075]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.394, 0.029, -0.037)	[env.py: 1079]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
+05/14 21:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:49:41 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:49:41 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 21:49:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:49:41 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 21:49:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:49:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:49:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.529s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:49:44 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:49:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:49:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:49:45 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 21:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:49:45 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 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055047m	[env.py: 870]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.49574205 -0.07439617  0.05504723] yaw=-107.9deg	[env.py: 1019]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:49:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.6ms	[env.py: 1075]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.496, -0.074, 0.055)	[env.py: 1079]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.9 deg	[env.py: 1082]
+05/14 21:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/14 21:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:49:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:49:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:49:46 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 21:49:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:49:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:49:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:49:50 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.686[m] 111.202[deg]	[grasp_sample.py: 539]
+05/14 21:49:52 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 21:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:49:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:49:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 21:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052627m	[env.py: 870]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.38766224  0.08732332 -0.05262665] yaw=-128.0deg	[env.py: 1019]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09601808 -0.64719995 -0.05262665] yaw=-152.1deg	[env.py: 1019]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18761005 -0.12281623 -0.05262665] yaw=-144.5deg	[env.py: 1019]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=96.0ms, total=96.1ms	[env.py: 1075]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.388, 0.087, -0.053)	[env.py: 1079]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.0 deg	[env.py: 1082]
+05/14 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.135m	[env.py: 1086]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:49:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:49:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:49:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:49:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:49:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.527s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:49:56 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:49:56 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/14 21:49:58 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:49:58 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:49:58 INFO: [Worker 0] Worker 0 completed house 1: 8/8 successful episodes	[pipeline.py: 1323]
+05/14 21:49:58 INFO: [Worker 0] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=3553.40s
+  House averages:
+  episode_total: mean=109.50s, total=1970.91s, count=18, min=2601.3ms, max=222783.2ms
+  sensor_polling: mean=405.1ms, total=1363.01s, count=3365, min=353.2ms, max=763.5ms
+  save_trajectories: mean=10.93s, total=87.47s, count=8, min=10335.7ms, max=11567.2ms
+  physics_step: mean=24.1ms, total=81.15s, count=3365, min=15.2ms, max=61.8ms
+  save_batch_prep: mean=3.22s, total=25.79s, count=8, min=2605.6ms, max=3752.2ms
+  task_sampling: mean=592.3ms, total=10.66s, count=18, min=333.2ms, max=3269.6ms
+  task_specific_sample: mean=433.4ms, total=7.80s, count=18, min=329.9ms, max=543.3ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2789.6ms, max=2789.6ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1739.8ms, max=1739.8ms
+  scene_compile: mean=879.5ms, total=879.5ms, count=1, min=879.5ms, max=879.5ms
+  compile_mujoco: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
+  compile_xml_load: mean=186.8ms, total=186.8ms, count=1, min=186.8ms, max=186.8ms
+  scene_init: mean=116.7ms, total=116.7ms, count=1, min=116.7ms, max=116.7ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  scene_randomize: mean=2.0ms, total=35.5ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=484.9us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=18.0us, 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 21:49:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 21:49:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=3553.40s
+  Worker averages:
+  episode_total: mean=109.50s, total=1970.91s, count=18, min=2601.3ms, max=222783.2ms
+  sensor_polling: mean=405.1ms, total=1363.01s, count=3365, min=353.2ms, max=763.5ms
+  save_trajectories: mean=10.93s, total=87.47s, count=8, min=10335.7ms, max=11567.2ms
+  physics_step: mean=24.1ms, total=81.15s, count=3365, min=15.2ms, max=61.8ms
+  save_batch_prep: mean=3.22s, total=25.79s, count=8, min=2605.6ms, max=3752.2ms
+  task_sampling: mean=592.3ms, total=10.66s, count=18, min=333.2ms, max=3269.6ms
+  task_specific_sample: mean=433.4ms, total=7.80s, count=18, min=329.9ms, max=543.3ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2789.6ms, max=2789.6ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1739.8ms, max=1739.8ms
+  scene_compile: mean=879.5ms, total=879.5ms, count=1, min=879.5ms, max=879.5ms
+  compile_mujoco: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
+  compile_xml_load: mean=186.8ms, total=186.8ms, count=1, min=186.8ms, max=186.8ms
+  scene_init: mean=116.7ms, total=116.7ms, count=1, min=116.7ms, max=116.7ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  scene_randomize: mean=2.0ms, total=35.5ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=484.9us, total=8.7ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  policy_setup: mean=18.0us, 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 21:50:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 21:50:00 INFO: Success count: 8, Total count: 8	[pipeline.py: 1491]
+05/14 21:50:00 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 21:50:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/debug/chunk_101	[pipeline.py: 1174]
+05/14 21:50:03 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 40102)	[pipeline.py: 1213]
+05/14 21:50:03 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.51s:
+  episode_total: mean=151.24s, total=151.24s, count=1, min=151238.9ms, max=151238.9ms
+  sensor_polling: mean=391.5ms, total=117.44s, count=300, min=366.4ms, max=701.0ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=17.2ms, max=36.1ms
+  task_sampling: mean=507.7ms, total=507.7ms, count=1, min=507.7ms, max=507.7ms
+  task_specific_sample: mean=503.8ms, total=503.8ms, count=1, min=503.8ms, max=503.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=446.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 21:50:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:50:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:50:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:50:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:50:04 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 21:50:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:50:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072962m	[env.py: 870]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:50:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03776623 -0.69083056  0.0729623 ] yaw=-146.7deg	[env.py: 1019]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19126233 -0.89965569  0.0729623 ] yaw=201.6deg	[env.py: 1019]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.3635085  -0.32265924  0.0729623 ] yaw=-169.4deg	[env.py: 1019]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:50:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -0.691, 0.073)	[env.py: 1079]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/14 21:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/14 21:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:50:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:50:05 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:50:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:50:05 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 21:50:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:50:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:50:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 10.896s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:50:16 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.823[m] 96.294[deg]	[grasp_sample.py: 539]
+05/14 21:50:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:50:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:50:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:50:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 21:50:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:50:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:50:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:51:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:51:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:51:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:51:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:51:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:51:58 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 21:51:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:51:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:52:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.941s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:52:01 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.039[m] 20.460[deg]	[grasp_sample.py: 539]
+05/14 21:52:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:52:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:52:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:52:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:52:08 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 21:52:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:52:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:52:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.187s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:52:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.259[m] 30.427[deg]	[grasp_sample.py: 539]
+05/14 21:52:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:52:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 21:52:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.84s:
+  episode_total: mean=78.85s, total=157.70s, count=2, min=2733.8ms, max=154966.1ms
+  sensor_polling: mean=419.2ms, total=125.76s, count=300, min=396.0ms, max=691.5ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.8ms, max=69.1ms
+  task_sampling: mean=418.1ms, total=836.1ms, count=2, min=345.9ms, max=490.2ms
+  task_specific_sample: mean=414.9ms, total=829.8ms, count=2, min=342.8ms, max=486.9ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.2ms, max=2.0ms
+  mj_forward_sync: mean=459.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.6us, 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 21:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:52:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:52:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:52:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:52:11 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 21:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041330m	[env.py: 870]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00998157 -0.34074346 -0.0413296 ] yaw=-164.4deg	[env.py: 1019]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12506842 -0.71903209 -0.0413296 ] yaw=-171.6deg	[env.py: 1019]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:52:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.1ms, total=190.1ms	[env.py: 1075]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.010, -0.341, -0.041)	[env.py: 1079]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
+05/14 21:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.166m	[env.py: 1086]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:52:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:52:11 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:52:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:52:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 21:52:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:52:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:52:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.535s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 21:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 21:52:16 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:52:16 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:52:16 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/14 21:52:16 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3852.10s
+  House averages:
+  episode_total: mean=117.16s, total=2108.94s, count=18, min=315.9ms, max=216520.2ms
+  sensor_polling: mean=428.7ms, total=1507.05s, count=3515, min=371.6ms, max=739.8ms
+  save_trajectories: mean=10.72s, total=96.52s, count=9, min=10525.6ms, max=11125.5ms
+  physics_step: mean=24.4ms, total=85.84s, count=3515, min=16.7ms, max=69.1ms
+  save_batch_prep: mean=3.18s, total=28.61s, count=9, min=2996.2ms, max=3384.0ms
+  task_sampling: mean=602.3ms, total=10.24s, count=17, min=320.9ms, max=3434.9ms
+  task_specific_sample: mean=413.0ms, total=7.43s, count=18, min=309.3ms, max=586.5ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3055.7ms, max=3055.7ms
+  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1987.7ms, max=1987.7ms
+  scene_compile: mean=901.3ms, total=901.3ms, count=1, min=901.3ms, max=901.3ms
+  compile_mujoco: mean=642.7ms, total=642.7ms, count=1, min=642.7ms, max=642.7ms
+  task_sampling_failed: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
+  compile_xml_load: mean=185.5ms, total=185.5ms, count=1, min=185.5ms, max=185.5ms
+  scene_init: mean=115.8ms, total=115.8ms, count=1, min=115.8ms, max=115.8ms
+  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_asset_install: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
+  asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  scene_randomize: mean=2.0ms, total=36.2ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms
+  mj_forward_sync: mean=486.8us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=17.1us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 21:52:16 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 21:52:16 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3852.10s
+  Worker averages:
+  episode_total: mean=117.16s, total=2108.94s, count=18, min=315.9ms, max=216520.2ms
+  sensor_polling: mean=428.7ms, total=1507.05s, count=3515, min=371.6ms, max=739.8ms
+  save_trajectories: mean=10.72s, total=96.52s, count=9, min=10525.6ms, max=11125.5ms
+  physics_step: mean=24.4ms, total=85.84s, count=3515, min=16.7ms, max=69.1ms
+  save_batch_prep: mean=3.18s, total=28.61s, count=9, min=2996.2ms, max=3384.0ms
+  task_sampling: mean=602.3ms, total=10.24s, count=17, min=320.9ms, max=3434.9ms
+  task_specific_sample: mean=413.0ms, total=7.43s, count=18, min=309.3ms, max=586.5ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3055.7ms, max=3055.7ms
+  scene_env_create: mean=1.99s, total=1.99s, count=1, min=1987.7ms, max=1987.7ms
+  scene_compile: mean=901.3ms, total=901.3ms, count=1, min=901.3ms, max=901.3ms
+  compile_mujoco: mean=642.7ms, total=642.7ms, count=1, min=642.7ms, max=642.7ms
+  task_sampling_failed: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
+  compile_xml_load: mean=185.5ms, total=185.5ms, count=1, min=185.5ms, max=185.5ms
+  scene_init: mean=115.8ms, total=115.8ms, count=1, min=115.8ms, max=115.8ms
+  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_asset_install: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
+  asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  scene_randomize: mean=2.0ms, total=36.2ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms
+  mj_forward_sync: mean=486.8us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=17.1us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 21:52:18 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 21:52:18 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/14 21:52:18 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/14 21:52:22 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 21:52:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[pipeline.py: 1174]
+05/14 21:52:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:52:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:52:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:52:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_101	[save_utils.py: 785]
+05/14 21:52:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.43s (batch: 3.10s, save: 10.33s)	[pipeline.py: 300]
+05/14 21:52:58 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s:
+  episode_total: mean=173.76s, total=173.76s, count=1, min=173764.8ms, max=173764.8ms
+  sensor_polling: mean=387.8ms, total=116.35s, count=300, min=368.6ms, max=664.0ms
+  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10332.8ms, max=10332.8ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.8ms, max=27.3ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3097.4ms, max=3097.4ms
+  task_sampling: mean=468.5ms, total=468.5ms, count=1, min=468.5ms, max=468.5ms
+  task_specific_sample: mean=464.2ms, total=464.2ms, count=1, min=464.2ms, max=464.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.6us, 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 21:52:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:52:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:52:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:52:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:52:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:52:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:52:59 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 21:52:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:52:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.083m, effective arm-mount z=0.777m (base_body_z=-0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.083460m	[env.py: 870]
+05/14 21:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:52:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01118388 -1.14085276 -0.08345978] yaw=176.9deg	[env.py: 1019]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08616881 -0.84691733 -0.08345978] yaw=175.4deg	[env.py: 1019]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21470988 -1.0983797  -0.08345978] yaw=186.1deg	[env.py: 1019]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 21:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.9ms, total=162.9ms	[env.py: 1075]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.011, -1.141, -0.083)	[env.py: 1079]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg	[env.py: 1082]
+05/14 21:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.112m	[env.py: 1086]
+05/14 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:53:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 21:53:00 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 21:53:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/14 21:53:00 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 21:53:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:53:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.701s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:53:03 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.572[m] 94.424[deg]	[grasp_sample.py: 539]
+05/14 21:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:53:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:53:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:54:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 21:54:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 21:54:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 21:54:43 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 21:54:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 21:54:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 21:54:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 21:54:44 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.150[m] 2.170[deg]	[grasp_sample.py: 539]
+05/14 21:54:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 21:54:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 21:54:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:54:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:55:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 21:55:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 21:55:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 21:55:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.43s:
+  episode_total: mean=140.82s, total=140.82s, count=1, min=140822.0ms, max=140822.0ms
+  sensor_polling: mean=391.6ms, total=117.48s, count=300, min=375.8ms, max=674.2ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=15.5ms, max=30.4ms
+  task_sampling: mean=433.5ms, total=433.5ms, count=1, min=433.5ms, max=433.5ms
+  task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=460.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, 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 21:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 21:55:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 21:55:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 21:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 21:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 21:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 21:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 21:55:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 21:55:22 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 21:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 21:55:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092258m	[env.py: 870]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 21:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 21:55:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.9ms, total=185.9ms	[env.py: 1105]
+05/14 21:55:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 21:55:22 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 21:55:23 WARNING: [Worker 0] No trajectory data to save for chunk_101	[pipeline.py: 234]
+05/14 21:55:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 21:55:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 21:55:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 21:55:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/debug/chunk_101	[save_utils.py: 785]
+05/14 21:55:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.34s (batch: 3.03s, save: 10.32s)	[pipeline.py: 300]
+05/14 21:55:37 INFO: [Worker 0] Worker 0 completed house 1: 9/14 successful episodes	[pipeline.py: 1323]
+05/14 21:55:37 INFO: [Worker 0] [PROFILE] House 1 complete: 9/14 successful, 14 episodes, total_time=4241.33s
+  House averages:
+  episode_total: mean=127.79s, total=2300.21s, count=18, min=197.1ms, max=217504.3ms
+  sensor_polling: mean=401.0ms, total=1683.25s, count=4198, min=366.3ms, max=701.0ms
+  physics_step: mean=24.1ms, total=101.22s, count=4198, min=15.5ms, max=65.2ms
+  save_trajectories: mean=11.12s, total=100.11s, count=9, min=10332.8ms, max=12948.1ms
+  save_batch_prep: mean=3.23s, total=29.10s, count=9, min=2994.9ms, max=4009.7ms
+  task_sampling: mean=657.9ms, total=11.18s, count=17, min=358.2ms, max=3747.5ms
+  task_specific_sample: mean=442.4ms, total=7.96s, count=18, min=191.4ms, max=555.0ms
+  scene_load: mean=3.35s, total=3.35s, count=1, min=3349.3ms, max=3349.3ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.0ms, max=1920.0ms
+  scene_compile: mean=1.26s, total=1.26s, count=1, min=1256.9ms, max=1256.9ms
+  compile_mujoco: mean=616.1ms, total=616.1ms, count=1, min=616.1ms, max=616.1ms
+  compile_xml_load: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
+  task_sampling_failed: mean=197.1ms, total=197.1ms, count=1, min=197.1ms, max=197.1ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  scene_randomize: mean=2.0ms, total=35.4ms, count=18, min=1.1ms, max=3.1ms
+  compile_robot_add: mean=24.1ms, total=24.1ms, count=1, min=24.1ms, max=24.1ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  mj_forward_sync: mean=477.7us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  policy_setup: mean=20.4us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 21:55:38 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 21:55:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4241.33s
+  Worker averages:
+  episode_total: mean=127.79s, total=2300.21s, count=18, min=197.1ms, max=217504.3ms
+  sensor_polling: mean=401.0ms, total=1683.25s, count=4198, min=366.3ms, max=701.0ms
+  physics_step: mean=24.1ms, total=101.22s, count=4198, min=15.5ms, max=65.2ms
+  save_trajectories: mean=11.12s, total=100.11s, count=9, min=10332.8ms, max=12948.1ms
+  save_batch_prep: mean=3.23s, total=29.10s, count=9, min=2994.9ms, max=4009.7ms
+  task_sampling: mean=657.9ms, total=11.18s, count=17, min=358.2ms, max=3747.5ms
+  task_specific_sample: mean=442.4ms, total=7.96s, count=18, min=191.4ms, max=555.0ms
+  scene_load: mean=3.35s, total=3.35s, count=1, min=3349.3ms, max=3349.3ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.0ms, max=1920.0ms
+  scene_compile: mean=1.26s, total=1.26s, count=1, min=1256.9ms, max=1256.9ms
+  compile_mujoco: mean=616.1ms, total=616.1ms, count=1, min=616.1ms, max=616.1ms
+  compile_xml_load: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
+  task_sampling_failed: mean=197.1ms, total=197.1ms, count=1, min=197.1ms, max=197.1ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  compile_aux_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  compile_aux_policy_objects: mean=59.8ms, total=59.8ms, count=1, min=59.8ms, max=59.8ms
+  scene_asset_install: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=37.5ms, total=37.5ms, count=1, min=37.5ms, max=37.5ms
+  scene_randomize: mean=2.0ms, total=35.4ms, count=18, min=1.1ms, max=3.1ms
+  compile_robot_add: mean=24.1ms, total=24.1ms, count=1, min=24.1ms, max=24.1ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  mj_forward_sync: mean=477.7us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  policy_setup: mean=20.4us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 21:55:40 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 21:55:40 INFO: Success count: 9, Total count: 14	[pipeline.py: 1491]
+05/14 21:55:40 INFO: Success rate: 64.29%	[pipeline.py: 1492]
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